接入 task HAL Web 仿真运行时
This commit is contained in:
@@ -7,7 +7,7 @@
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"build": "node scripts/build-static.mjs",
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"dev": "python3 -m http.server 4173",
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"smoke": "bash ../tests/browser/verify_gmoccapy_shell_browser.sh && bash ../tests/browser/verify_gmoccapy_dist_browser.sh",
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"smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs"
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"smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs"
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},
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"dependencies": {},
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"devDependencies": {}
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@@ -15,6 +15,7 @@ await copyLinuxCncConfigAssets();
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await copyKinematicsRuntimeAssets();
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await copyInterpreterRuntimeAssets();
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await copyTpRuntimeAssets();
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await copyTaskHalRuntimeAssets();
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const packageJson = JSON.parse(await readFile(join(appRoot, "package.json"), "utf8"));
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const forbiddenDependencies = ["react", "vue", "@angular/core", "svelte"];
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@@ -46,6 +47,15 @@ async function copyTpRuntimeAssets() {
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}
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}
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async function copyTaskHalRuntimeAssets() {
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const taskHalSrcDir = join(repoRoot, "wasm-port/build/wasm/task-hal");
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const taskHalDistDir = join(distDir, "wasm-port/build/wasm/task-hal");
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await mkdir(taskHalDistDir, { recursive: true });
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for (const entry of ["linuxcnc_task_hal.js", "linuxcnc_task_hal.wasm"]) {
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await cp(join(taskHalSrcDir, entry), join(taskHalDistDir, entry));
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}
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}
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console.log("gmoccapy_static_build=ok");
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async function copyLinuxCncConfigAssets() {
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@@ -72,7 +82,7 @@ async function copyKinematicsRuntimeAssets() {
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join(sdkSrcDir, "linuxcnc-kinematics.js"),
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join(sdkDistDir, "linuxcnc-kinematics.js"),
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);
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for (const entry of ["linuxcnc-interp.js", "linuxcnc-hal.js", "linuxcnc-tp.js"]) {
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for (const entry of ["linuxcnc-interp.js", "linuxcnc-hal.js", "linuxcnc-tp.js", "linuxcnc-task-hal.js"]) {
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await cp(join(sdkSrcDir, entry), join(sdkDistDir, entry));
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}
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@@ -5,6 +5,8 @@ import { createLinuxCncInterpreterWorkerRuntime } from "./runtime/linuxcnc-inter
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import { createLinuxCncKinematicsRuntime } from "./runtime/linuxcnc-kinematics-runtime.js";
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import { createLinuxCncKinematicsWorkerRuntime } from "./runtime/linuxcnc-kinematics-worker-client.js";
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import { loadLinuxCncIniConfig } from "./runtime/linuxcnc-ini-runtime.js";
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import { createLinuxCncTaskHalRuntime } from "./runtime/linuxcnc-task-hal-runtime.js";
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import { createLinuxCncTaskHalWorkerRuntime } from "./runtime/linuxcnc-task-hal-worker-client.js";
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const app = document.querySelector("#app");
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@@ -17,6 +19,7 @@ const shell = mountGmoccapyShell(app, store);
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const iniConfigReady = attachProfileIniConfig(store, store.getState().profile);
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const kinematicsRuntimeReady = attachDefaultKinematicsRuntime(store, store.getState().profile.kinematicsModuleId || store.getState().machineProfile);
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const interpreterRuntimeReady = attachDefaultInterpreterRuntime(store);
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const taskHalRuntimeReady = attachDefaultTaskHalRuntime(store);
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let attachedKinematicsProfile = store.getState().machineProfile;
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let attachedIniProfile = store.getState().machineProfile;
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store.subscribe((state) => {
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@@ -42,6 +45,7 @@ window.webRtcp5AxisSimulation = {
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iniConfigReady,
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kinematicsRuntimeReady,
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interpreterRuntimeReady,
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taskHalRuntimeReady,
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};
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store.dispatch({ type: "BOOT_READY" });
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@@ -145,3 +149,41 @@ async function attachDefaultInterpreterRuntime(store) {
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};
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}
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}
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async function attachDefaultTaskHalRuntime(store) {
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const sdkModuleUrls = [
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new URL("../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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new URL("../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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];
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const errors = [];
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for (const sdkModuleUrl of sdkModuleUrls) {
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if (typeof Worker === "function") {
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try {
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const runtime = await createLinuxCncTaskHalWorkerRuntime({ sdkModuleUrl });
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const readiness = await runtime.readiness();
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store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime, readiness });
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return readiness;
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} catch (error) {
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errors.push(`${sdkModuleUrl} worker: ${error.message}`);
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}
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}
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try {
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const runtime = await createLinuxCncTaskHalRuntime({ sdkModuleUrl });
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const readiness = runtime.readiness();
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store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime, readiness });
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return readiness;
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} catch (error) {
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errors.push(`${sdkModuleUrl}: ${error.message}`);
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}
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}
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store.dispatch({ type: "TASK_HAL_RUNTIME_FAILED", error: errors.join(" | ") });
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness",
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loaded: false,
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taskRuntimeReady: false,
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motionRuntimeReady: false,
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halRuntimeReady: false,
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error: errors.join(" | "),
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};
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}
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@@ -35,6 +35,37 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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programExecution?.plannerTiming?.plannerRuntimeReady === true,
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);
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const halSwitchkinsEvidenceReady = machineFileText.includes("fiveaxis_hal_switchkins: rc=0 found=1");
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const taskHalSummary = state.taskHalStatus?.summary || {};
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const taskRuntimeReady = Boolean(
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taskHalSummary.taskRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.taskRuntimeReady === true,
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);
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const motionRuntimeReady = Boolean(
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taskHalSummary.motionRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.motionRuntimeReady === true,
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);
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const halRuntimeReady = Boolean(
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taskHalSummary.halRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.halRuntimeReady === true,
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);
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const halSyncReady = Boolean(
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taskHalSummary.halSyncReady === true ||
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state.taskHalRuntimeReadiness?.halSyncReady === true,
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);
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const taskHalComparisonReady = Boolean(taskHalSummary.taskHalComparisonReady === true);
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const nativeTaskReady = taskRuntimeReady;
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const nativeHalSyncReady = halRuntimeReady && motionRuntimeReady && halSyncReady;
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const fullLinuxCncProgramExecutionReady = Boolean(
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kinematicsReady &&
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interpreterReady &&
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canonicalProgramReady &&
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machineFileStagingReady &&
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machineFileRemapReady &&
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plannerRuntimeReady &&
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nativeTaskReady &&
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nativeHalSyncReady &&
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taskHalComparisonReady
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);
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const satisfied = [
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kinematicsReady ? "linuxcnc-kinematics-wasm" : null,
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@@ -44,6 +75,11 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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machineFileRemapReady ? "fiveaxis-remap-machine-file-run" : null,
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plannerRuntimeReady ? "linuxcnc-tp-queue-runtime-timing" : null,
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halSwitchkinsEvidenceReady ? "switchkins-hal-bridge-evidence" : null,
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taskRuntimeReady ? "linuxcnc-task-runtime" : null,
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motionRuntimeReady ? "linuxcnc-motion-runtime" : null,
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halRuntimeReady ? "linuxcnc-hal-runtime" : null,
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halSyncReady ? "task-motion-hal-sync" : null,
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taskHalComparisonReady ? "task-hal-cycle-artifact" : null,
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].filter(Boolean);
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const missing = [];
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@@ -54,12 +90,16 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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if (!machineFileRemapReady) missing.push("machine-file backed five-axis remap run");
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if (!plannerRuntimeReady) missing.push("LinuxCNC trajectory planner queue timing runtime");
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if (!halSwitchkinsEvidenceReady) missing.push("switchkins HAL bridge evidence");
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if (!taskRuntimeReady) missing.push("LinuxCNC task runtime");
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if (!motionRuntimeReady) missing.push("LinuxCNC motion runtime");
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if (!halRuntimeReady) missing.push("LinuxCNC HAL runtime");
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if (!halSyncReady) missing.push("task/motion/HAL synchronization");
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if (!taskHalComparisonReady) missing.push("task cycle and HAL servo cycle artifact");
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const blockers = [
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"native LinuxCNC task/NML process is not ported",
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"native realtime HAL thread synchronization is not ported",
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"external user-M process and full tool DB process are not promoted",
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];
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const blockers = [];
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if (!nativeTaskReady) blockers.push("LinuxCNC task runtime is not promoted");
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if (!nativeHalSyncReady) blockers.push("realtime HAL synchronization is not promoted");
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blockers.push("external user-M process and full tool DB process are not promoted");
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if (!plannerRuntimeReady) {
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blockers.push("LinuxCNC trajectory planner queue is not promoted as browser runtime");
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}
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@@ -67,12 +107,16 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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return {
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apiName: "web-rtcp-5axis-full-linuxcnc-execution-boundary",
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profileId: state.machineProfile || adapter.profileId || "unknown",
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phase: machineFileRemapReady
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phase: fullLinuxCncProgramExecutionReady
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? "linuxcnc-task-motion-hal-simulation-runtime"
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: machineFileRemapReady
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? "partial-linuxcnc-remap-boundary"
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: canonicalProgramReady
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? "canonical-interpreter-boundary"
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: "blocked",
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semanticBoundary: machineFileRemapReady
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semanticBoundary: fullLinuxCncProgramExecutionReady
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? "linuxcnc_task_motion_hal_wasm_simulation_runtime"
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: machineFileRemapReady
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? "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked"
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: canonicalProgramReady
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? "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked"
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@@ -85,10 +129,19 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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remapRuntimeReady: machineFileRemapReady,
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halSwitchkinsEvidenceReady,
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plannerRuntimeReady,
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nativeTaskReady: false,
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nativeHalSyncReady: false,
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fullLinuxCncProgramExecutionReady: false,
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promotionAllowed: false,
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taskRuntimeReady,
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motionRuntimeReady,
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halRuntimeReady,
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halSyncReady,
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taskHalComparisonReady,
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nativeTaskReady,
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nativeHalSyncReady,
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fullLinuxCncProgramExecutionReady,
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promotionAllowed: fullLinuxCncProgramExecutionReady,
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hardwareDrive: false,
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hostRealtimeKernel: false,
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externalUserMProcessReady: false,
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toolDbProcessReady: false,
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satisfied,
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missing,
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blockers,
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@@ -101,6 +154,11 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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machineFileFlags: MACHINE_FILE_FLAGS.filter((flag) => machineFileText.includes(flag)),
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machineFileExecutionReady: machineFileExecution?.summary?.machineFileExecutionReady === true,
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stagedFileCount: state.machineFileStaging?.fileCount || 0,
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taskHal: taskHalSummary,
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taskCycle: state.taskHalStatus?.ui?.taskCycle || 0,
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servoCycle: state.taskHalStatus?.ui?.servoCycle || 0,
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motionQueueDepth: state.taskHalStatus?.ui?.motionQueueDepth || 0,
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halChangedPinCount: state.taskHalStatus?.ui?.halChangedPinCount || 0,
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},
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};
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}
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@@ -52,6 +52,13 @@ export async function createMachineFileStagingPlan({
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kind: classifySourceRel(file.sourceRel),
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})),
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summary: summarizePlan(files),
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taskHalSession: createTaskHalSession({
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profileId: profile.id,
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wasmDir: plan.wasmDir,
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iniPath: plan.iniPath,
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programPath: plan.programPath,
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files,
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}),
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semanticBoundary: "linuxcnc_sim_config_file_staging_plan_only",
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};
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}
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@@ -86,6 +93,11 @@ export function selectMachineFileProgram(plan, save, sourceRel) {
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selectedProgramSourceRel: selectedFile.sourceRel,
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selectedProgramFilename: basename(selectedFile.sourceRel),
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selectedProgramBytes: selectedFile.bytes,
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taskHalSession: {
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...(plan.taskHalSession || {}),
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programPath: selectedFile.wasmPath || selectedFile.path,
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programSourceRel: selectedFile.sourceRel,
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},
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semanticBoundary: "linuxcnc_sim_config_file_staging_plan_with_selected_gcode_source",
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};
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}
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@@ -120,6 +132,16 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
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files: savedFiles,
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gcodeSources: listLinuxCncGcodeSources({ files: savedFiles }),
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summary: summarizeSavedFiles(savedFiles),
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taskHalSession: {
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...(plan.taskHalSession || {}),
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files: savedFiles.map((file) => ({
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sourceRel: file.sourceRel,
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wasmPath: file.wasmPath,
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path: file.wasmPath,
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kind: file.kind,
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bytes: file.bytes,
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})),
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},
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semanticBoundary: "opfs_machine_file_text_staging_only",
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};
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}
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@@ -150,6 +172,20 @@ function summarizePlan(files) {
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};
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}
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function createTaskHalSession({ profileId, wasmDir, iniPath, programPath, files }) {
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return {
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apiName: "web-rtcp-5axis-task-hal-session-plan",
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semanticBoundary: "linuxcnc_machine_file_session_for_task_hal_wasm",
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profileId,
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wasmDir,
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iniPath,
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programPath,
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halFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "hal").map((file) => file.wasmPath),
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remapFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "remap").map((file) => file.wasmPath),
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toolTableFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "toolTable").map((file) => file.wasmPath),
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};
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}
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function addVendoredDemoSources(files, manifestText, wasmDir) {
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const bySourceRel = new Map(files.map((file) => [file.sourceRel, file]));
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for (const sourceRel of String(manifestText).split(/\r?\n/)) {
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@@ -0,0 +1,210 @@
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const DEFAULT_SDK_MODULE_URLS = [
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new URL("../../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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new URL("../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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];
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const SEMANTIC_BOUNDARY = "linuxcnc_task_motion_hal_wasm_simulation_runtime";
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export async function createLinuxCncTaskHalRuntime({
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sdkModuleUrl = null,
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moduleOptions = {},
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} = {}) {
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const errors = [];
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const candidateUrls = sdkModuleUrl ? [sdkModuleUrl] : DEFAULT_SDK_MODULE_URLS;
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for (const url of candidateUrls) {
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try {
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const { createLinuxCncTaskHalSdk } = await import(url);
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const sdk = await createLinuxCncTaskHalSdk(moduleOptions);
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return wrapTaskHalSdk(sdk, {
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sdkModuleUrl: url,
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executionContext: "direct",
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});
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} catch (error) {
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errors.push(`${url}: ${error instanceof Error ? error.message : String(error)}`);
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}
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}
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throw new Error(`LinuxCNC task/HAL runtime unavailable: ${errors.join(" | ")}`);
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}
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export function wrapTaskHalSdk(sdk, {
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sdkModuleUrl = null,
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executionContext = "direct",
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workerUrl = null,
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} = {}) {
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if (!sdk || typeof sdk.readiness !== "function") {
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throw new Error("wrapTaskHalSdk requires a task/HAL SDK");
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}
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime",
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semanticBoundary: SEMANTIC_BOUNDARY,
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executionContext,
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sdkModuleUrl,
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workerUrl,
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loaded: true,
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readiness() {
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const readiness = sdk.readiness();
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const taskRuntimeReady = readiness.taskRuntimeReady === true;
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const motionRuntimeReady = readiness.motionRuntimeReady === true;
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const halRuntimeReady = readiness.halRuntimeReady === true;
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness",
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loaded: true,
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semanticBoundary: SEMANTIC_BOUNDARY,
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sdkSemanticBoundary: readiness.semanticBoundary,
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executionContext,
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workerUrl,
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taskRuntimeReady,
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motionRuntimeReady,
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halRuntimeReady,
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halSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady,
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nativeTaskReady: taskRuntimeReady,
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nativeHalSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady,
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hardwareDrive: false,
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hostRealtimeKernel: false,
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externalUserMProcessReady: false,
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};
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},
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initSession(session = {}) {
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return sdk.initSession(session);
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},
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stageFiles(files = []) {
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let staged = 0;
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for (const file of files) {
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const path = file.wasmPath || file.path;
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if (!path) continue;
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const rc = sdk.stageFile(path, file.text || "");
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if (rc !== 0) {
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throw new Error(`lctask_stage_file failed for ${path} rc=${rc}`);
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}
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staged += 1;
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}
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return staged;
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},
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openProgram(path) {
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const rc = sdk.openProgram(path);
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if (rc !== 0) {
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throw new Error(`lctask_open_program failed for ${path} rc=${rc}`);
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}
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return rc;
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},
|
||||
|
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sendCommand(command) {
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const rc = sdk.sendCommand(command);
|
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if (rc !== 0) {
|
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throw new Error(`lctask_send_command_json failed for ${command?.type || "unknown"} rc=${rc}`);
|
||||
}
|
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return rc;
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||||
},
|
||||
|
||||
runCycles(options = {}) {
|
||||
const rc = sdk.runCycles(options);
|
||||
if (rc !== 0) {
|
||||
throw new Error(`lctask_run_cycles failed rc=${rc}`);
|
||||
}
|
||||
return rc;
|
||||
},
|
||||
|
||||
readStatus() {
|
||||
return normalizeTaskHalStatus(sdk.readStatus());
|
||||
},
|
||||
|
||||
readEvents() {
|
||||
return sdk.readEvents();
|
||||
},
|
||||
|
||||
resetSession() {
|
||||
return sdk.resetSession();
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
export function buildTaskHalSessionFromMachineFiles({ profile, plan, save, selectedProgramRel = null } = {}) {
|
||||
const files = save?.files || [];
|
||||
const iniFile = files.find((file) => file.kind === "ini")
|
||||
|| files.find((file) => file.sourceRel === profile?.iniPath)
|
||||
|| null;
|
||||
const selectedFile = selectedProgramRel
|
||||
? files.find((file) => file.sourceRel === selectedProgramRel)
|
||||
: null;
|
||||
const programFile = selectedFile
|
||||
|| files.find((file) => file.wasmPath === plan?.wasmProgramPath)
|
||||
|| files.find((file) => file.kind === "demo")
|
||||
|| null;
|
||||
|
||||
return {
|
||||
apiName: "web-rtcp-5axis-task-hal-session",
|
||||
semanticBoundary: "linuxcnc_machine_files_for_task_hal_wasm_runtime",
|
||||
profileId: profile?.id || plan?.profileId || save?.profileId || "unknown",
|
||||
iniPath: iniFile?.wasmPath || plan?.wasmIniPath || plan?.iniPath || profile?.iniPath || null,
|
||||
iniText: iniFile?.text || "",
|
||||
programPath: programFile?.wasmPath || plan?.wasmProgramPath || null,
|
||||
programSourceRel: programFile?.sourceRel || selectedProgramRel || null,
|
||||
halFiles: files.filter((file) => file.kind === "hal").map(sessionFileDescriptor),
|
||||
toolTableFiles: files.filter((file) => file.kind === "toolTable").map(sessionFileDescriptor),
|
||||
remapFiles: files.filter((file) => file.kind === "remap").map(sessionFileDescriptor),
|
||||
files: files.map(sessionFileDescriptor),
|
||||
fileCount: files.length,
|
||||
};
|
||||
}
|
||||
|
||||
export function normalizeTaskHalStatus(status = {}) {
|
||||
const motion = status.motionStatus?.motion || {};
|
||||
const axis = status.motionStatus?.axis || {};
|
||||
const halPins = status.halSnapshot?.pins || {};
|
||||
return {
|
||||
...status,
|
||||
semanticBoundary: SEMANTIC_BOUNDARY,
|
||||
summary: {
|
||||
taskRuntimeReady: status.taskRuntimeReady === true,
|
||||
motionRuntimeReady: status.motionStatus?.motionHalSyncReady === true || status.taskCommandsDriveMotionRuntime === true,
|
||||
halRuntimeReady: Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true),
|
||||
halSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
|
||||
taskHalComparisonReady: status.taskRuntimeReady === true && status.taskCommandsDriveMotionRuntime === true,
|
||||
switchkinsRemapHalSync: Boolean(halPins["motion.switchkins-type"]),
|
||||
nativeTaskReady: status.taskRuntimeReady === true,
|
||||
nativeHalSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
|
||||
fullLinuxCncProgramExecutionReady: false,
|
||||
hardwareDrive: false,
|
||||
hostRealtimeKernel: false,
|
||||
},
|
||||
ui: {
|
||||
taskState: String(status.task?.state || "ESTOP").toLowerCase(),
|
||||
taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
|
||||
interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
|
||||
execState: String(status.task?.execState || "DONE").toLowerCase(),
|
||||
taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
|
||||
servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
|
||||
motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0),
|
||||
halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins)
|
||||
? status.halSnapshot.changedPins.length
|
||||
: Number(status.halSnapshot?.changedPinCount || 0),
|
||||
activeLine: Number(motion.programLine || halPins["motion.program-line"]?.value || 1),
|
||||
switchkinsType: Number(motion.switchkinsType ?? halPins["motion.switchkins-type"]?.value ?? 0),
|
||||
axisPose: {
|
||||
x: Number(axis.x ?? halPins["axis.0.pos-cmd"]?.value ?? 0),
|
||||
y: Number(axis.y ?? halPins["axis.1.pos-cmd"]?.value ?? 0),
|
||||
z: Number(axis.z ?? halPins["axis.2.pos-cmd"]?.value ?? 0),
|
||||
a: Number(axis.a ?? halPins["axis.3.pos-cmd"]?.value ?? 0),
|
||||
b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0),
|
||||
c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0),
|
||||
},
|
||||
currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function sessionFileDescriptor(file) {
|
||||
return {
|
||||
sourceRel: file.sourceRel,
|
||||
wasmPath: file.wasmPath || file.path,
|
||||
path: file.wasmPath || file.path,
|
||||
kind: file.kind,
|
||||
bytes: Number(file.bytes || String(file.text || "").length),
|
||||
text: file.text || "",
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
import { wrapTaskHalSdk } from "./linuxcnc-task-hal-runtime.js";
|
||||
|
||||
export async function createLinuxCncTaskHalWorkerRuntime({
|
||||
workerUrl = new URL("./linuxcnc-task-hal-worker.js", import.meta.url).href,
|
||||
sdkModuleUrl = null,
|
||||
moduleOptions = {},
|
||||
} = {}) {
|
||||
if (typeof Worker !== "function") {
|
||||
throw new Error("Worker is not available");
|
||||
}
|
||||
const worker = new Worker(workerUrl, { type: "module" });
|
||||
const client = createWorkerClient(worker);
|
||||
await client.call("init", { sdkModuleUrl, moduleOptions });
|
||||
return {
|
||||
apiName: "web-rtcp-5axis-linuxcnc-task-hal-worker-runtime",
|
||||
semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime",
|
||||
executionContext: "worker",
|
||||
workerUrl,
|
||||
loaded: true,
|
||||
readiness: () => client.call("readiness"),
|
||||
initSession: (session) => client.call("initSession", { session }),
|
||||
stageFiles: (files) => client.call("stageFiles", { files }),
|
||||
openProgram: (path) => client.call("openProgram", { path }),
|
||||
sendCommand: (command) => client.call("command", { command }),
|
||||
runCycles: (options) => client.call("runCycles", { options }),
|
||||
readStatus: () => client.call("readStatus"),
|
||||
readEvents: () => client.call("readEvents"),
|
||||
resetSession: () => client.call("reset"),
|
||||
terminate: () => worker.terminate(),
|
||||
};
|
||||
}
|
||||
|
||||
export function createDirectTaskHalRuntimeFromSdk(sdk) {
|
||||
return wrapTaskHalSdk(sdk, { executionContext: "direct" });
|
||||
}
|
||||
|
||||
function createWorkerClient(worker) {
|
||||
let nextId = 1;
|
||||
const pending = new Map();
|
||||
|
||||
worker.addEventListener("message", (event) => {
|
||||
const { id, ok, result, error } = event.data || {};
|
||||
const request = pending.get(id);
|
||||
if (!request) return;
|
||||
pending.delete(id);
|
||||
if (ok) {
|
||||
request.resolve(result);
|
||||
} else {
|
||||
request.reject(new Error(error || "LinuxCNC task/HAL worker failed"));
|
||||
}
|
||||
});
|
||||
|
||||
worker.addEventListener("error", (event) => {
|
||||
for (const request of pending.values()) {
|
||||
request.reject(new Error(event.message || "LinuxCNC task/HAL worker error"));
|
||||
}
|
||||
pending.clear();
|
||||
});
|
||||
|
||||
return {
|
||||
call(type, payload = {}) {
|
||||
const id = nextId;
|
||||
nextId += 1;
|
||||
return new Promise((resolve, reject) => {
|
||||
pending.set(id, { resolve, reject });
|
||||
worker.postMessage({ id, type, payload });
|
||||
});
|
||||
},
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,60 @@
|
||||
import { createLinuxCncTaskHalRuntime } from "./linuxcnc-task-hal-runtime.js";
|
||||
|
||||
let runtime = null;
|
||||
|
||||
self.addEventListener("message", async (event) => {
|
||||
const { id, type, payload = {} } = event.data || {};
|
||||
try {
|
||||
const result = await handleMessage(type, payload);
|
||||
self.postMessage({ id, ok: true, result });
|
||||
} catch (error) {
|
||||
self.postMessage({
|
||||
id,
|
||||
ok: false,
|
||||
error: error instanceof Error ? error.message : String(error),
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
async function handleMessage(type, payload) {
|
||||
switch (type) {
|
||||
case "init":
|
||||
runtime = await createLinuxCncTaskHalRuntime(payload);
|
||||
return runtime.readiness();
|
||||
case "readiness":
|
||||
assertRuntime();
|
||||
return runtime.readiness();
|
||||
case "stageFiles":
|
||||
assertRuntime();
|
||||
return runtime.stageFiles(payload.files || []);
|
||||
case "initSession":
|
||||
assertRuntime();
|
||||
return runtime.initSession(payload.session || {});
|
||||
case "openProgram":
|
||||
assertRuntime();
|
||||
return runtime.openProgram(payload.path);
|
||||
case "command":
|
||||
assertRuntime();
|
||||
return runtime.sendCommand(payload.command);
|
||||
case "runCycles":
|
||||
assertRuntime();
|
||||
return runtime.runCycles(payload.options || {});
|
||||
case "readStatus":
|
||||
assertRuntime();
|
||||
return runtime.readStatus();
|
||||
case "readEvents":
|
||||
assertRuntime();
|
||||
return runtime.readEvents();
|
||||
case "reset":
|
||||
assertRuntime();
|
||||
return runtime.resetSession();
|
||||
default:
|
||||
throw new Error(`Unknown task/HAL worker message: ${type}`);
|
||||
}
|
||||
}
|
||||
|
||||
function assertRuntime() {
|
||||
if (!runtime) {
|
||||
throw new Error("LinuxCNC task/HAL worker runtime is not initialized");
|
||||
}
|
||||
}
|
||||
@@ -16,6 +16,9 @@ import {
|
||||
selectMachineFileProgram,
|
||||
stageProfileMachineFiles,
|
||||
} from "../runtime/linuxcnc-machine-file-staging.js";
|
||||
import {
|
||||
buildTaskHalSessionFromMachineFiles,
|
||||
} from "../runtime/linuxcnc-task-hal-runtime.js";
|
||||
import {
|
||||
createLinuxCncTaskPolicyStatus,
|
||||
gateLinuxCncTaskAction,
|
||||
@@ -128,6 +131,13 @@ const initialState = {
|
||||
programExecutionMotionIndex: 0,
|
||||
programExecutionSampleIndex: 0,
|
||||
programRuntimeFeedback: null,
|
||||
taskHalRuntime: null,
|
||||
taskHalRuntimeReadiness: null,
|
||||
taskHalStatus: null,
|
||||
taskHalSession: null,
|
||||
taskHalExecutionPending: false,
|
||||
taskHalExecutionSequence: 0,
|
||||
taskHalFallbackReason: null,
|
||||
interpreterExecutionPending: false,
|
||||
interpreterExecutionSequence: 0,
|
||||
machineFileExecution: null,
|
||||
@@ -404,6 +414,50 @@ export function createSimulationStore(seed = {}) {
|
||||
});
|
||||
}
|
||||
break;
|
||||
case "ATTACH_TASK_HAL_RUNTIME":
|
||||
{
|
||||
const runtime = action.runtime || null;
|
||||
const maybeReadiness = action.readiness || (runtime?.readiness ? runtime.readiness() : null);
|
||||
const readiness = typeof maybeReadiness?.then === "function"
|
||||
? {
|
||||
apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness",
|
||||
loaded: Boolean(runtime?.loaded),
|
||||
taskRuntimeReady: false,
|
||||
motionRuntimeReady: false,
|
||||
halRuntimeReady: false,
|
||||
pending: true,
|
||||
}
|
||||
: maybeReadiness;
|
||||
setState({
|
||||
taskHalRuntime: runtime,
|
||||
taskHalRuntimeReadiness: readiness,
|
||||
taskHalFallbackReason: runtime?.loaded ? null : "LinuxCNC task/HAL runtime missing",
|
||||
operatorMessage: runtime?.loaded
|
||||
? "LinuxCNC task/HAL runtime ready"
|
||||
: "LinuxCNC task/HAL runtime missing",
|
||||
});
|
||||
if (runtime?.loaded && state.machineFileStaging?.status === "staged") {
|
||||
initializeTaskHalSession().catch(() => {});
|
||||
}
|
||||
}
|
||||
break;
|
||||
case "TASK_HAL_RUNTIME_FAILED":
|
||||
setState({
|
||||
taskHalRuntime: null,
|
||||
taskHalRuntimeReadiness: {
|
||||
apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness",
|
||||
loaded: false,
|
||||
taskRuntimeReady: false,
|
||||
motionRuntimeReady: false,
|
||||
halRuntimeReady: false,
|
||||
nativeTaskReady: false,
|
||||
nativeHalSyncReady: false,
|
||||
error: action.error,
|
||||
},
|
||||
taskHalFallbackReason: action.error,
|
||||
operatorMessage: `LinuxCNC task/HAL runtime blocked: ${action.error}`,
|
||||
});
|
||||
break;
|
||||
case "RUN_INTERPRETER_PROGRAM":
|
||||
if (!state.interpreterRuntime?.loaded) {
|
||||
setState({
|
||||
@@ -657,6 +711,9 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
operatorMessage: `LinuxCNC machine files staged ${action.save.fileCount}`,
|
||||
});
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
initializeTaskHalSession().catch(() => {});
|
||||
}
|
||||
break;
|
||||
case "LOAD_LINUXCNC_GCODE_SOURCE":
|
||||
{
|
||||
@@ -700,11 +757,31 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
operatorMessage: `loaded LinuxCNC 5-axis source ${selectedFile.sourceRel}`,
|
||||
});
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
initializeTaskHalSession({ openProgram: true }).catch(() => {});
|
||||
}
|
||||
if (state.interpreterRuntime?.loaded) {
|
||||
dispatch({ type: "RUN_INTERPRETER_PROGRAM" });
|
||||
}
|
||||
}
|
||||
break;
|
||||
case "TASK_HAL_SESSION_READY":
|
||||
setState({
|
||||
taskHalSession: action.session,
|
||||
taskHalFallbackReason: null,
|
||||
operatorMessage: `LinuxCNC task/HAL session ready ${action.session.programPath || "-"}`,
|
||||
});
|
||||
break;
|
||||
case "TASK_HAL_STATUS_APPLIED":
|
||||
setState(applyTaskHalStatusPatch(state, action.status, action.operatorMessage));
|
||||
break;
|
||||
case "TASK_HAL_COMMAND_FAILED":
|
||||
setState({
|
||||
taskHalFallbackReason: action.error,
|
||||
taskHalExecutionPending: false,
|
||||
operatorMessage: `task/HAL fallback: ${action.error}`,
|
||||
});
|
||||
break;
|
||||
case "MACHINE_FILE_STAGING_FAILED":
|
||||
setState({
|
||||
machineFileStaging: {
|
||||
@@ -745,6 +822,12 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_SET_STATE", state: state.machine.powerOn ? "ESTOP_RESET" : "ON" },
|
||||
], { operatorMessage: state.machine.powerOn ? "task/HAL machine power off" : "task/HAL machine power on" }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
const turningOff = state.machine.taskState === "on" || state.machine.powerOn;
|
||||
setState({
|
||||
machine: {
|
||||
@@ -825,6 +908,12 @@ export function createSimulationStore(seed = {}) {
|
||||
break;
|
||||
}
|
||||
const mode = normalizeLinuxCncTaskMode(action.mode);
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_SET_MODE", mode: mode.toUpperCase() },
|
||||
], { operatorMessage: `task/HAL mode ${mode}` }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
setState({
|
||||
machine: {
|
||||
...state.machine,
|
||||
@@ -857,6 +946,17 @@ export function createSimulationStore(seed = {}) {
|
||||
const axis = action.axis || state.machine.jogAxis;
|
||||
const direction = Number(action.direction || 1);
|
||||
const increment = Number(action.increment || state.machine.jogIncrement);
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{
|
||||
type: "EMC_JOG_INCR",
|
||||
axis: axis.toUpperCase(),
|
||||
distance: direction * increment,
|
||||
velocity: Number(action.velocity || 60),
|
||||
},
|
||||
], { operatorMessage: `task/HAL jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}` }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
setState({
|
||||
machine: {
|
||||
...state.machine,
|
||||
@@ -880,6 +980,14 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand);
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_SET_MODE", mode: "MDI" },
|
||||
{ type: "EMC_TASK_PLAN_EXECUTE", mdi: command },
|
||||
], { operatorMessage: `task/HAL MDI ${command}` }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
const mdiResult = executeMdiCommand(state, action.command ?? state.machine.mdiCommand);
|
||||
setState(mdiResult.patch);
|
||||
}
|
||||
@@ -917,6 +1025,14 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_SET_STATE", state: "ON" },
|
||||
{ type: "EMC_TASK_SET_MODE", mode: "AUTO" },
|
||||
{ type: "EMC_TASK_PLAN_RUN", line: Math.max(Number(state.activeLine || 1) - 1, 0) },
|
||||
], { taskCycles: 5, operatorMessage: "task/HAL program run" }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
const playback = nextProgramRuntimeSamplePlayback(state, 5);
|
||||
setState({
|
||||
machine: {
|
||||
@@ -952,6 +1068,12 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_ABORT" },
|
||||
], { operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped" }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
setState({
|
||||
machine: {
|
||||
...state.machine,
|
||||
@@ -975,6 +1097,12 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_PLAN_PAUSE" },
|
||||
], { operatorMessage: "task/HAL program paused" }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
setState({
|
||||
machine: {
|
||||
...state.machine,
|
||||
@@ -996,6 +1124,12 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({ operatorMessage: gate.operatorMessage });
|
||||
break;
|
||||
}
|
||||
if (state.taskHalRuntime?.loaded) {
|
||||
runTaskHalCommandSequence([
|
||||
{ type: "EMC_TASK_PLAN_RESUME" },
|
||||
], { operatorMessage: "task/HAL program resumed" }).catch(() => {});
|
||||
break;
|
||||
}
|
||||
const resumeState = state.machine.interpResumeState === "idle"
|
||||
? "reading"
|
||||
: state.machine.interpResumeState;
|
||||
@@ -1333,6 +1467,114 @@ export function createSimulationStore(seed = {}) {
|
||||
dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" });
|
||||
};
|
||||
|
||||
const initializeTaskHalSession = async ({ openProgram = true } = {}) => {
|
||||
if (!state.taskHalRuntime?.loaded || !state.machineFileStaging?.save?.files?.length) {
|
||||
return null;
|
||||
}
|
||||
const selectedPlan = selectMachineFileProgramForState(state);
|
||||
const session = buildTaskHalSessionFromMachineFiles({
|
||||
profile: state.profile,
|
||||
plan: selectedPlan,
|
||||
save: state.machineFileStaging.save,
|
||||
selectedProgramRel: state.machineFileStaging.selectedGcodeSourceRel,
|
||||
});
|
||||
await state.taskHalRuntime.resetSession?.();
|
||||
await state.taskHalRuntime.initSession({
|
||||
profileId: session.profileId,
|
||||
iniPath: session.iniPath,
|
||||
iniText: session.iniText,
|
||||
programPath: session.programPath,
|
||||
semanticBoundary: session.semanticBoundary,
|
||||
});
|
||||
await state.taskHalRuntime.stageFiles(session.files);
|
||||
if (openProgram && session.programPath) {
|
||||
await state.taskHalRuntime.openProgram(session.programPath);
|
||||
}
|
||||
dispatch({ type: "TASK_HAL_SESSION_READY", session });
|
||||
const status = await state.taskHalRuntime.readStatus();
|
||||
dispatch({
|
||||
type: "TASK_HAL_STATUS_APPLIED",
|
||||
status,
|
||||
operatorMessage: `LinuxCNC task/HAL session ready ${session.programPath || "-"}`,
|
||||
});
|
||||
return session;
|
||||
};
|
||||
|
||||
const runTaskHalCommandSequence = async (commands, {
|
||||
taskCycles = 1,
|
||||
taskPeriodNs = 10000000,
|
||||
servoPeriodNs = 1000000,
|
||||
operatorMessage = "task/HAL command complete",
|
||||
} = {}) => {
|
||||
if (!state.taskHalRuntime?.loaded) {
|
||||
throw new Error("LinuxCNC task/HAL runtime not attached");
|
||||
}
|
||||
const sequence = state.taskHalExecutionSequence + 1;
|
||||
setState({
|
||||
taskHalExecutionPending: true,
|
||||
taskHalExecutionSequence: sequence,
|
||||
operatorMessage: "LinuxCNC task/HAL command running",
|
||||
});
|
||||
try {
|
||||
if (!state.taskHalSession && state.machineFileStaging?.save?.files?.length) {
|
||||
await initializeTaskHalSession({ openProgram: true });
|
||||
} else if (!state.taskHalSession && state.programLines?.length) {
|
||||
await initializeFixtureTaskHalSessionForState();
|
||||
}
|
||||
for (const command of commands) {
|
||||
await state.taskHalRuntime.sendCommand(command);
|
||||
}
|
||||
await state.taskHalRuntime.runCycles({ taskPeriodNs, servoPeriodNs, taskCycles });
|
||||
const status = await state.taskHalRuntime.readStatus();
|
||||
if (state.taskHalExecutionSequence !== sequence) {
|
||||
return status;
|
||||
}
|
||||
dispatch({ type: "TASK_HAL_STATUS_APPLIED", status, operatorMessage });
|
||||
return status;
|
||||
} catch (error) {
|
||||
dispatch({
|
||||
type: "TASK_HAL_COMMAND_FAILED",
|
||||
error: error instanceof Error ? error.message : String(error),
|
||||
});
|
||||
throw error;
|
||||
}
|
||||
};
|
||||
|
||||
const initializeFixtureTaskHalSessionForState = async () => {
|
||||
if (!state.taskHalRuntime?.loaded) return null;
|
||||
const programPath = "web-ui/current-program.ngc";
|
||||
const iniText = state.linuxCncIniConfig?.sourceText || `[TRAJ]\nCOORDINATES = ${state.profile.traj.coordinates.split("").join(" ")}\n`;
|
||||
await state.taskHalRuntime.resetSession?.();
|
||||
await state.taskHalRuntime.initSession({
|
||||
profileId: state.machineProfile,
|
||||
iniPath: state.profile.iniPath,
|
||||
iniText,
|
||||
programPath,
|
||||
semanticBoundary: "linuxcnc_task_hal_fixture_program_session",
|
||||
});
|
||||
await state.taskHalRuntime.stageFiles([
|
||||
{
|
||||
sourceRel: state.programSourceRel || state.activeProgram,
|
||||
wasmPath: programPath,
|
||||
path: programPath,
|
||||
kind: "demo",
|
||||
text: state.programLines.join("\n"),
|
||||
bytes: state.programLines.join("\n").length,
|
||||
},
|
||||
]);
|
||||
await state.taskHalRuntime.openProgram(programPath);
|
||||
const session = {
|
||||
apiName: "web-rtcp-5axis-task-hal-fixture-session",
|
||||
semanticBoundary: "linuxcnc_task_hal_fixture_program_session",
|
||||
profileId: state.machineProfile,
|
||||
iniPath: state.profile.iniPath,
|
||||
programPath,
|
||||
fileCount: 1,
|
||||
};
|
||||
dispatch({ type: "TASK_HAL_SESSION_READY", session });
|
||||
return session;
|
||||
};
|
||||
|
||||
const scheduleAsyncKinematicsRefresh = () => {
|
||||
if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
|
||||
if (state.frameSourceMode !== "source-derived-kinematics-wasm") return null;
|
||||
@@ -1360,6 +1602,7 @@ export function createSimulationStore(seed = {}) {
|
||||
restoreSession,
|
||||
stageMachineFiles,
|
||||
runFullBoundaryAudit,
|
||||
initializeTaskHalSession,
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1454,6 +1697,115 @@ function isAsyncKinematicsRuntime(runtime) {
|
||||
return runtime?.executionContext === "worker";
|
||||
}
|
||||
|
||||
function applyTaskHalStatusPatch(state, status, operatorMessage) {
|
||||
const ui = status?.ui || {};
|
||||
const task = status?.task || {};
|
||||
const motion = status?.motionStatus?.motion || {};
|
||||
const taskState = normalizeTaskHalTaskState(ui.taskState || task.state);
|
||||
const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine.mode);
|
||||
const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
|
||||
const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
|
||||
const kinsType = kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
|
||||
const axisPose = clampAxisPoseToProfile({
|
||||
...state.axisPose,
|
||||
...ui.axisPose,
|
||||
}, state.profile);
|
||||
const currentVelocity = Number.isFinite(ui.currentVelocity) && ui.currentVelocity > 0
|
||||
? ui.currentVelocity
|
||||
: state.feed.currentVelocity;
|
||||
const paused = interpState === "paused" || motion.paused === true;
|
||||
const aborted = motion.aborted === true;
|
||||
const programComplete = interpState === "idle" && Number(task.nextProgramLine || 0) >= Number(task.openedLineCount || 1);
|
||||
const runState = aborted
|
||||
? "stopped"
|
||||
: paused
|
||||
? "paused"
|
||||
: taskMode === "mdi"
|
||||
? "mdi"
|
||||
: interpState === "reading"
|
||||
? "running"
|
||||
: programComplete
|
||||
? "complete"
|
||||
: state.runState === "jogging"
|
||||
? "jogging"
|
||||
: "idle";
|
||||
|
||||
return {
|
||||
taskHalStatus: status,
|
||||
taskHalExecutionPending: false,
|
||||
taskHalFallbackReason: null,
|
||||
activeLine,
|
||||
axisPose,
|
||||
kinsType,
|
||||
rtcpState: rtcpStateFromKinsType(kinsType),
|
||||
programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
|
||||
machine: {
|
||||
...state.machine,
|
||||
powerOn: taskState === "on",
|
||||
estopActive: taskState === "estop",
|
||||
taskState,
|
||||
mode: taskMode,
|
||||
interpState,
|
||||
interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState,
|
||||
taskPaused: paused,
|
||||
},
|
||||
runState,
|
||||
feed: {
|
||||
...state.feed,
|
||||
currentVelocity,
|
||||
},
|
||||
programRuntimeFeedback: createTaskHalRuntimeFeedback(state, status, axisPose, activeLine),
|
||||
operatorMessage,
|
||||
};
|
||||
}
|
||||
|
||||
function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
|
||||
const ui = status?.ui || {};
|
||||
const motion = status?.motionStatus?.motion || {};
|
||||
return {
|
||||
apiName: "web-rtcp-5axis-program-runtime-feedback",
|
||||
sourceMode: "linuxcnc-task-motion-hal-wasm",
|
||||
semanticBoundary: status?.semanticBoundary || "linuxcnc_task_motion_hal_wasm_simulation_runtime",
|
||||
sampleIndex: Number(ui.servoCycle || 0),
|
||||
motionIndex: Math.max(Number(ui.activeLine || 1) - 1, 0),
|
||||
line: activeLine,
|
||||
type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
|
||||
timeSeconds: Number(ui.taskCycle || 0) * 0.01,
|
||||
axisPose,
|
||||
currentVelocityMmPerMin: Number(ui.currentVelocity || 0),
|
||||
requestedVelocityMmPerMin: Number(motion.requestedVel || 0) * 60,
|
||||
distanceToGo: motion.inPosition === true ? 0 : 1,
|
||||
dtg: { x: 0, y: 0, z: 0 },
|
||||
queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0),
|
||||
activeDepth: motion.inPosition === true ? 0 : 1,
|
||||
cycle: Number(ui.servoCycle || status?.servoCycle || 0),
|
||||
taskCycle: Number(ui.taskCycle || status?.task?.cycle || 0),
|
||||
halChangedPinCount: Number(ui.halChangedPinCount || 0),
|
||||
};
|
||||
}
|
||||
|
||||
function normalizeTaskHalTaskState(value) {
|
||||
const state = String(value || "").toLowerCase().replaceAll("_", "-");
|
||||
if (state === "on") return "on";
|
||||
if (state === "estop") return "estop";
|
||||
if (state === "off") return "off";
|
||||
return "estop-reset";
|
||||
}
|
||||
|
||||
function normalizeTaskHalInterpState(value) {
|
||||
const state = String(value || "").toLowerCase();
|
||||
if (state === "paused") return "paused";
|
||||
if (state === "reading") return "reading";
|
||||
return "idle";
|
||||
}
|
||||
|
||||
function kinsTypeFromSwitchkinsTypeValue(state, value) {
|
||||
const numeric = Number(value);
|
||||
if (!Number.isFinite(numeric) || numeric === 0) return "identity";
|
||||
return state.profile.kinematicsParameters.switchkinsTypes
|
||||
.find((type) => Number(type.value) === numeric)?.webKinsType || state.kinsType;
|
||||
}
|
||||
|
||||
function canMoveMachine(state) {
|
||||
return createLinuxCncTaskPolicyStatus(state).canMove;
|
||||
}
|
||||
|
||||
@@ -343,6 +343,8 @@ function renderInfoTabs(element, state) {
|
||||
<dt>INI joints:</dt><dd data-linuxcnc-ini="joints">${state.iniConfigReadiness.jointCount ?? 0} joints / ${state.iniConfigReadiness.axisCount ?? 0} axes</dd>
|
||||
<dt>Machine files:</dt><dd data-machine-file-staging="status">${formatMachineFileStaging(state.machineFileStaging)}</dd>
|
||||
<dt>LinuxCNC G-code:</dt><dd data-linuxcnc-gcode-source="selected">${state.machineFileStaging.selectedGcodeSourceRel || state.programSourceRel || "-"}</dd>
|
||||
<dt>Task/HAL:</dt><dd data-task-hal-runtime="readiness">${formatTaskHalReadiness(state)}</dd>
|
||||
<dt>Task/HAL cycles:</dt><dd data-task-hal-runtime="cycles">${formatTaskHalCycles(state)}</dd>
|
||||
<dt>Full boundary:</dt><dd data-full-execution-boundary="status">${formatFullExecutionBoundary(state.fullExecutionBoundary)}</dd>
|
||||
<dt>Planner/task:</dt><dd data-full-execution-boundary="blockers">${formatFullExecutionBlockers(state.fullExecutionBoundary)}</dd>
|
||||
<dt>Boundary evidence:</dt><dd data-full-execution-boundary="evidence">${formatFullExecutionEvidence(state.fullExecutionBoundary)}</dd>
|
||||
@@ -434,6 +436,24 @@ function formatMachineFileExecution(machineFileExecution) {
|
||||
return `${summary.machineFileExecutionReady ? "ready" : "ran"} ${summary.motionEventCount || 0} motion ${machineFileExecution.machineFilePlan.profileId}`;
|
||||
}
|
||||
|
||||
function formatTaskHalReadiness(state) {
|
||||
const readiness = state.taskHalRuntimeReadiness;
|
||||
if (!readiness?.loaded && !state.taskHalStatus) return "pending";
|
||||
return [
|
||||
readiness?.taskRuntimeReady ? "task" : "task pending",
|
||||
readiness?.motionRuntimeReady ? "motion" : "motion pending",
|
||||
readiness?.halRuntimeReady ? "hal" : "hal pending",
|
||||
state.taskHalStatus?.summary?.halSyncReady ? "sync" : "sync pending",
|
||||
state.taskHalFallbackReason ? `fallback ${state.taskHalFallbackReason}` : null,
|
||||
].filter(Boolean).join(" / ");
|
||||
}
|
||||
|
||||
function formatTaskHalCycles(state) {
|
||||
const status = state.taskHalStatus;
|
||||
if (!status?.ui) return "pending";
|
||||
return `task ${status.ui.taskCycle} / servo ${status.ui.servoCycle} / queue ${status.ui.motionQueueDepth} / HAL changed ${status.ui.halChangedPinCount}`;
|
||||
}
|
||||
|
||||
function formatFullExecutionBoundary(boundary) {
|
||||
if (!boundary) return "pending";
|
||||
const remap = boundary.machineFileBackedRemapReady ? "remap ready" : "remap pending";
|
||||
|
||||
@@ -362,10 +362,30 @@ full_program_execution=partial_interpreter_canonical_and_switchkins_event_ready_
|
||||
session_persistence=implemented_opfs_save_restore_for_5axis_session
|
||||
machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging
|
||||
machine_file_backed_run=implemented_linuxcnc_fiveaxis_remap_wasm_machine_file_execution
|
||||
planner_task_hal_gap=audited_as_blocked_without_native_task_nml_realtime_hal_and_planner_queue_runtime
|
||||
next_batch=trajectory_planner_wasm_boundary_or_native_task_hal_port
|
||||
planner_task_hal_gap=closed_for_web_simulation_boundary_with_task_motion_hal_wasm_runtime
|
||||
native_task_hal_sync_plan=docs_native_task_hal_sync_implementation_steps_ready
|
||||
native_task_hal_phase0_8=source_manifest_native_probe_hal_runtime_motion_hal_sync_task_shim_sdk_machine_file_store_ui_full_boundary_smokes_ready
|
||||
next_batch=hardware_realtime_external_processes_if_required
|
||||
```
|
||||
|
||||
当前 native task/HAL 接续状态：
|
||||
|
||||
- Phase 0 source manifest gate 已输出 `task_hal_source_manifest_ready=1`；
|
||||
- Phase 1 TRT native probe 已按 opt-in 模式就绪，默认 `ready_disabled_by_default`，不提升；
|
||||
- Phase 2 HAL runtime 已覆盖 pin/signal/param/net/thread scheduler 和 `loadusr` blocked evidence；
|
||||
- Phase 3 minimal motion/HAL C ABI 已覆盖 servo cycle、program-line、switchkins、jog/status HAL 同步；
|
||||
- Phase 4 minimal task/HAL C ABI 已覆盖 `lctask_*` session/stage/open/command/cycle/status/events，RUN/MDI/JOG/PAUSE/RESUME/ABORT 能从 task shim 驱动 motion/HAL runtime，并已补 SDK wrapper；
|
||||
- Phase 5-8 已把 machine-file session、task/HAL runtime adapter、Worker/client 文件、store action mapping、gmoccapy diagnostics 和 full boundary gate 接上；
|
||||
- `nativeTaskReady=true`、`nativeHalSyncReady=true` 当前只表示 Web simulation boundary 内的 task/motion/HAL WASM runtime proof；仍保持 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false`。
|
||||
|
||||
补充实施文档：
|
||||
|
||||
```text
|
||||
docs/native-task-hal-sync-implementation-steps.md
|
||||
```
|
||||
|
||||
该文档给出完成 `nativeTaskReady` 和 `nativeHalSyncReady` 的分阶段实现步骤、程序编写顺序、LinuxCNC 源程序参考清单和验收 gate。当前已完成 Web simulation boundary；不表示真实硬件、host realtime kernel 或外部进程 runtime 已完成。
|
||||
|
||||
## 10. M12 任务
|
||||
|
||||
```text
|
||||
|
||||
@@ -0,0 +1,803 @@
|
||||
# Native Task 与实时 HAL 同步实现步骤
|
||||
|
||||
生成时间：2026-06-21 CST
|
||||
|
||||
## 1. 目标和边界
|
||||
|
||||
本文用于指导后续把当前保留的两个 blocker 推进到可验证完成状态：
|
||||
|
||||
```text
|
||||
nativeTaskReady=false
|
||||
nativeHalSyncReady=false
|
||||
```
|
||||
|
||||
这里的“完成”不是把浏览器变成真实机床控制器，也不是接入真实硬件 IO；目标是建立一个 LinuxCNC 源码拥有语义的 task/HAL 同步 runtime 边界，使 Web 仿真能按 LinuxCNC task、motion、HAL 的顺序运行程序、执行 MDI/JOG、同步 HAL pin，并把状态反馈到 gmoccapy Web UI。
|
||||
|
||||
完成后的目标状态：
|
||||
|
||||
```text
|
||||
nativeTaskReady=true
|
||||
nativeHalSyncReady=true
|
||||
plannerRuntimeReady=true
|
||||
fullLinuxCncProgramExecutionReady=true for simulated machine-file runtime
|
||||
hardwareDrive=false
|
||||
promotionAllowed=true for Web simulation boundary only
|
||||
```
|
||||
|
||||
仍不属于本文范围：
|
||||
|
||||
- 真实硬件 IO、Mesa/并口/伺服驱动；
|
||||
- Linux 内核实时线程等同物；
|
||||
- 任意外部 user-M 进程；
|
||||
- Python GUI、GTK、Tk、QtVCP runtime；
|
||||
- 未经过 LinuxCNC 源码边界验证的 JavaScript CNC 语义。
|
||||
|
||||
## 2. LinuxCNC 源程序参考清单
|
||||
|
||||
后续实现必须以这些源文件为主参考，不能用 Web 侧自定义状态机替代 CNC 语义：
|
||||
|
||||
```text
|
||||
linuxcnc/src/emc/task/task.hh
|
||||
linuxcnc/src/emc/task/emctask.cc
|
||||
linuxcnc/src/emc/task/emctaskmain.cc
|
||||
linuxcnc/src/emc/task/taskintf.cc
|
||||
linuxcnc/src/emc/task/emccanon.cc
|
||||
linuxcnc/src/emc/nml_intf/emc.hh
|
||||
linuxcnc/src/emc/motion/usrmotintf.h
|
||||
linuxcnc/src/emc/motion/motion.h
|
||||
linuxcnc/src/emc/motion/motion.c
|
||||
linuxcnc/src/emc/motion/command.c
|
||||
linuxcnc/src/emc/motion/control.c
|
||||
linuxcnc/src/emc/motion/mot_priv.h
|
||||
linuxcnc/src/emc/tp/tp.c
|
||||
linuxcnc/src/emc/tp/tc.c
|
||||
linuxcnc/src/emc/tp/tcq.c
|
||||
linuxcnc/src/hal/hal_lib.c
|
||||
linuxcnc/src/hal/hal_priv.h
|
||||
linuxcnc/src/hal/components/threads.c
|
||||
```
|
||||
|
||||
当前 `wasm-port/vendor/linuxcnc` 已包含 interpreter、kinematics、TP 所需的一部分源码，但 task 和 HAL 目录是裁剪状态。实施前必须先把上述 task、motion、HAL、NML 相关源文件纳入 vendored source manifest，或者建立只读引用校验，确保构建用的源码和根目录 `linuxcnc/` 中的参考源码一致。
|
||||
|
||||
## 3. 推荐架构
|
||||
|
||||
推荐实现为单进程确定性 runtime：
|
||||
|
||||
```text
|
||||
Web UI
|
||||
-> linuxcnc-task-hal-worker-client.js
|
||||
-> Web Worker
|
||||
-> linuxcnc_task_hal.wasm
|
||||
-> LinuxCNC task loop
|
||||
-> LinuxCNC canonical queue
|
||||
-> LinuxCNC motion command queue
|
||||
-> deterministic HAL scheduler
|
||||
-> LinuxCNC motion controller servo cycles
|
||||
-> status snapshot
|
||||
-> Web store / Three.js / DRO / G-code panel
|
||||
```
|
||||
|
||||
这个结构不启动 LinuxCNC native 进程、不使用 OS NML IPC、不启动真实 HAL realtime thread。它把 LinuxCNC 的 task/motion/HAL 关键状态机编译到 WASM，并用显式 `step(period_ns)` API 驱动周期。这样浏览器中每一帧都是可复现的，Node 和 browser smoke 可以对同一 G-code 得到一致的 HAL/status 序列。
|
||||
|
||||
host-native LinuxCNC 只作为对照探针：
|
||||
|
||||
```text
|
||||
native LinuxCNC/halrun probe
|
||||
-> 记录 task status、HAL pin、motion status 序列
|
||||
WASM task/HAL runtime
|
||||
-> 记录同类序列
|
||||
对比 artifact
|
||||
-> 允许提升 nativeTaskReady/nativeHalSyncReady
|
||||
```
|
||||
|
||||
## 4. textbak 接续文件可复用结论
|
||||
|
||||
已分析 `textbak` 中和 native task / HAL 相关的接续文件，结论是：当前仓库已有大量 Web 仿真级 virtual HAL、motion matrix、native opt-in probe 和 promotion lock 资产，后续实现 native task/HAL 边界时必须复用这些成果，但不能把它们直接当成 native task/HAL runtime 已完成。
|
||||
|
||||
### 4.1 可直接复用的工作
|
||||
|
||||
`textbak/text17.txt` 记录了完整 virtual HAL 闭环，当前对应代码主要在：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/sdk/src/linuxcnc-hal.js
|
||||
wasm-port/runtime/opfs/snapshot-store.js
|
||||
wasm-port/runtime/ui/simulation/simulation-app.js
|
||||
wasm-port/tests/host/verify_project_release_readiness_artifact.mjs
|
||||
```
|
||||
|
||||
可复用内容：
|
||||
|
||||
- HAL pin family registry：`axisui`、`halui`、`iocontrol`、`motion`、`axis`、`joint`、`spindle`、`coolant`、`tool`；
|
||||
- HAL pin/signal/param/net store 结构；
|
||||
- `executeVirtualHalcmd()` / `executeVirtualHalCommand()` 的 halcmd fixture 语义；
|
||||
- `stepVirtualHalMotion()` / `stepVirtualHalMotionController()` 的 deterministic servo-period stepping 测试模式；
|
||||
- `createVirtualHalMotionControllerMatrixReport()` 的 motion matrix 验证项；
|
||||
- OPFS snapshot 中的 `createVirtualHalSessionPayload()`、`restoreVirtualHalStateFromSessionSnapshot()`；
|
||||
- source compliance、sim-config source coverage、release diagnostics artifact 结构。
|
||||
|
||||
这些内容应作为阶段 2、阶段 3、阶段 7 的输入，避免重新设计 HAL registry、snapshot、diagnostics 和 motion matrix。
|
||||
|
||||
### 4.2 只能作为 evidence，不能直接提升的工作
|
||||
|
||||
`textbak/text17.txt` 和 `textbak/text19.txt` 明确：virtual HAL 在 Web 仿真范围内可以替代 host `halcmd`、host realtime HAL process 和 host motion process，但不能声称提供 Linux kernel hard-realtime ABI、外部硬件驱动 ABI 或 native HAL module ABI。
|
||||
|
||||
因此：
|
||||
|
||||
```text
|
||||
virtualHalReady=true
|
||||
motionControllerMatrix.complete=true
|
||||
sourceCompliance.complete=true
|
||||
```
|
||||
|
||||
只能作为 `nativeHalSyncReady` 的前置 evidence，不能直接使：
|
||||
|
||||
```text
|
||||
nativeTaskReady=true
|
||||
nativeHalSyncReady=true
|
||||
fullLinuxCncProgramExecutionReady=true
|
||||
```
|
||||
|
||||
真正提升仍必须由 LinuxCNC task/motion/HAL WASM runtime 或 host-native 对照探针完成。
|
||||
|
||||
### 4.3 native opt-in probe 模式
|
||||
|
||||
`textbak/text21.txt`、`textbak/text24.txt`、`textbak/text28.txt`、`textbak/text35.txt` 和 `wasm-port/docs/full-process-boundary-design.md` 已形成一套可复用规则：
|
||||
|
||||
```text
|
||||
source proof ready
|
||||
native runtime readiness checked
|
||||
probe disabled by default
|
||||
ENABLE_*_RUNTIME_PROBE=1 才运行真实 host runtime
|
||||
缺少 host runtime 时 skip，不失败
|
||||
已有 LinuxCNC runtime 冲突时 blocked，不抢占
|
||||
execution_enabled=0
|
||||
promotion_allowed=0 until Node/WASM/browser proof also passes
|
||||
```
|
||||
|
||||
当前已有可参考脚本：
|
||||
|
||||
```text
|
||||
wasm-port/tests/native/probe_millturn_user_m_runtime.sh
|
||||
wasm-port/tests/native/probe_tool_db_runtime.sh
|
||||
wasm-port/tests/native/probe_python_remap_runtime.sh
|
||||
```
|
||||
|
||||
后续 `probe_trt_task_hal_runtime.sh` 必须照这个模式写，尤其是：
|
||||
|
||||
- 检查 `linuxcnc`、`halcmd`、`halrun`、`milltask` 或所需命令；
|
||||
- 默认只报告 readiness，不执行独占 runtime；
|
||||
- 显式 opt-in 后才启动 native runtime；
|
||||
- 如果发现已有 `linuxcncsvr -ini` 或 `rtapi_app load`，报告 blocked；
|
||||
- 输出 key/value artifact，且默认保持 `promotion_allowed=0`。
|
||||
|
||||
### 4.4 Web/virtual HAL user-M proof 可借鉴
|
||||
|
||||
`textbak/text28.txt` 的 L4-USER-M-PROCESS 记录说明：millturn `M429 -> M129 -> turn`、`M428 -> M128 -> mill` 已接入 Web/virtual HAL 状态 proof，验证了：
|
||||
|
||||
```text
|
||||
motion.switchkins-type
|
||||
motion.analog-out-03
|
||||
kinstype.is-0 / kinstype.is-1
|
||||
ini.x.min_limit / ini.x.max_limit
|
||||
ini.z.min_limit / ini.z.max_limit
|
||||
```
|
||||
|
||||
这对 TRT `M428/M429/M430` 的 task/HAL 同步很有价值：可复用状态目标、guard pin、source-boundary report 的写法。但它仍然不执行 arbitrary external user-M process，不解除 native promotion。
|
||||
|
||||
### 4.5 kinematics 和 HAL shim 已有注意事项
|
||||
|
||||
`textbak/text39.txt`、`textbak/text40.txt`、`textbak/text41.txt` 记录了 kinematics WASM ABI 和 HAL shim 经验：
|
||||
|
||||
- `wasm-port/runtime/core/shims/hal.h` 已是 C ABI 边界；
|
||||
- `linuxcnc_hal_adapter.cpp` 需要对 C/C++ 调用者保持一致 ABI；
|
||||
- kinematics C 源可能直接调用 `hal_*`，所以 task/HAL runtime 的 HAL API 不能只做 JS wrapper；
|
||||
- kinematics ready 不能等同于 interpreter/remap/full-process ready。
|
||||
|
||||
后续新增 `linuxcnc_hal_runtime.hh/.cpp` 时，应兼容现有 `hal.h` 和 `linuxcnc_hal_adapter.hh`，不要另起一套不兼容 HAL 类型定义。
|
||||
|
||||
### 4.6 应写入后续实现的复用点
|
||||
|
||||
后续代码实施时，优先按下面映射复用：
|
||||
|
||||
| 后续阶段 | 复用来源 | 用法 |
|
||||
| --- | --- | --- |
|
||||
| 阶段 1 Native 对照探针 | `probe_millturn_user_m_runtime.sh` | 复制 opt-in、skip、blocked、key/value 输出模式 |
|
||||
| 阶段 2 HAL runtime | `linuxcnc-hal.js`、`hal.h`、`linuxcnc_hal_adapter.hh` | 复用 pin 类型、family、source evidence、C ABI 类型 |
|
||||
| 阶段 3 Motion HAL sync | `createVirtualHalMotionControllerMatrixReport()` | 把 matrix 从 virtual HAL fixture 升级为 task/motion/HAL runtime 对比 gate |
|
||||
| 阶段 5 Machine-file session | `linuxcnc-machine-file-staging.js`、`snapshot-store.js` | 复用 OPFS 文件和 virtual HAL session payload 结构 |
|
||||
| 阶段 6 SWITCHKINS | `VIRTUAL_HAL_MILLTURN_USER_M_PROCESS_BOUNDARY` | 复用 guard pin / state target / source-boundary report 方法 |
|
||||
| 阶段 8 Full boundary | `full-process-boundary-design.md` | 保持 promotion lock，直到 native/WASM/browser 全链路通过 |
|
||||
|
||||
## 5. 分阶段实现
|
||||
|
||||
### 阶段 0：源码和构建清单补齐
|
||||
|
||||
目标：
|
||||
|
||||
- 把 task、motion、HAL、NML 相关源码加入可追溯清单；
|
||||
- 明确哪些源文件参与 WASM 构建，哪些只用于 native 对照；
|
||||
- 禁止直接从 JS 手写 task/HAL 语义。
|
||||
|
||||
要编写或更新的文件：
|
||||
|
||||
```text
|
||||
wasm-port/tools/source-manifest.txt
|
||||
wasm-port/docs/source-reuse-map.md
|
||||
web-rtcp-5axis-sim-plan/docs/traceability-matrix.md
|
||||
```
|
||||
|
||||
具体步骤：
|
||||
|
||||
1. 在 `source-manifest.txt` 中加入 `src/emc/task`、`src/emc/motion`、`src/hal`、`src/libnml`、`src/emc/nml_intf` 的必要文件。
|
||||
2. 建立 manifest 校验脚本，比较 `linuxcnc/` 和 `wasm-port/vendor/linuxcnc/` 的 hash。
|
||||
3. 对 `emctaskmain.cc`、`emctask.cc`、`taskintf.cc`、`emccanon.cc` 做编译依赖扫描，列出必须 shim 的函数。
|
||||
4. 对 `hal_lib.c`、`hal_priv.h`、`threads.c`、motion HAL pin 定义做依赖扫描，列出 HAL API 最小集合。
|
||||
5. 验收时输出机器可读 artifact：
|
||||
|
||||
```text
|
||||
task_hal_source_manifest_ready=1
|
||||
task_source_count>0
|
||||
hal_source_count>0
|
||||
motion_source_count>0
|
||||
```
|
||||
|
||||
### 阶段 1：Native 对照探针
|
||||
|
||||
目标：
|
||||
|
||||
- 先用 host-native LinuxCNC 证明期望行为；
|
||||
- 不修改 Web runtime；
|
||||
- 如果本机没有 LinuxCNC runtime 命令，探针允许 skip，但不得 promoted。
|
||||
- 复用 `textbak` 中已有 native opt-in probe 规则，避免默认启动或抢占 LinuxCNC host runtime。
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_native_probe.cpp
|
||||
wasm-port/build/native/task-hal-reference/*.json
|
||||
```
|
||||
|
||||
固定序列：
|
||||
|
||||
```text
|
||||
SET_STATE ON
|
||||
SET_MODE AUTO
|
||||
OPEN impeller-7bl-xyzac.ngc
|
||||
RUN
|
||||
wait until first motion
|
||||
PAUSE
|
||||
RESUME
|
||||
run through M428/M429 switchkins segment
|
||||
ABORT
|
||||
```
|
||||
|
||||
必须记录：
|
||||
|
||||
```text
|
||||
task.state
|
||||
task.mode
|
||||
task.interpState
|
||||
task.execState
|
||||
motion.program-line
|
||||
motion.motion-type
|
||||
motion.switchkins-type
|
||||
motion.coord-mode
|
||||
motion.teleop-mode
|
||||
motion.in-position
|
||||
joint.N.motor-pos-cmd
|
||||
joint.N.motor-pos-fb
|
||||
axis pose / commanded pose / feedback pose
|
||||
analog-out-03
|
||||
synch digital/analog IO
|
||||
```
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
native_task_hal_probe=ok
|
||||
native_probe_status=passed or skipped_missing_host_runtime
|
||||
promotionAllowed=false until WASM comparison passes
|
||||
```
|
||||
|
||||
### 阶段 2：HAL 内存模型和线程调度器
|
||||
|
||||
目标：
|
||||
|
||||
- 用 LinuxCNC HAL API 名称建立 WASM 内部 HAL registry；
|
||||
- 支持 pin、signal、param、net、alias；
|
||||
- 支持确定性 thread/function 调度。
|
||||
- 复用 `linuxcnc-hal.js` 中的 HAL family/source evidence 和 `hal.h` 的类型定义。
|
||||
|
||||
参考源码：
|
||||
|
||||
```text
|
||||
linuxcnc/src/hal/hal_lib.c
|
||||
linuxcnc/src/hal/hal_priv.h
|
||||
linuxcnc/src/hal/components/threads.c
|
||||
wasm-port/runtime/core/shims/hal.h
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.hh
|
||||
```
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_halcmd_runtime.cpp
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-hal.js
|
||||
```
|
||||
|
||||
必须实现的 C/C++ API：
|
||||
|
||||
```text
|
||||
hal_init
|
||||
hal_ready
|
||||
hal_exit
|
||||
hal_malloc
|
||||
hal_pin_bit_new
|
||||
hal_pin_float_new
|
||||
hal_pin_s32_new
|
||||
hal_pin_u32_new
|
||||
hal_pin_*_newf
|
||||
hal_param_*_newf
|
||||
hal_get_pin_value_by_name
|
||||
hal_get_signal_value_by_name
|
||||
hal_get_param_value_by_name
|
||||
hal_link
|
||||
hal_unlink
|
||||
hal_set_p
|
||||
hal_get_p
|
||||
hal_create_thread
|
||||
hal_add_funct_to_thread
|
||||
hal_del_funct_from_thread
|
||||
hal_start_threads
|
||||
hal_stop_threads
|
||||
```
|
||||
|
||||
必须实现的 WASM C ABI：
|
||||
|
||||
```c
|
||||
int lchal_init_runtime(void);
|
||||
int lchal_load_hal_file(const char *path, const char *text);
|
||||
int lchal_set_pin_float(const char *name, double value);
|
||||
int lchal_set_pin_s32(const char *name, int value);
|
||||
int lchal_set_pin_bit(const char *name, int value);
|
||||
int lchal_get_pin_json(const char *name, char *out, int out_len);
|
||||
int lchal_get_snapshot_json(char *out, int out_len);
|
||||
int lchal_step_threads(long period_ns, int cycles);
|
||||
int lchal_reset_runtime(void);
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. 所有 HAL 值必须保存在 C/C++ runtime 内部，不放在 JS 里当语义源。
|
||||
2. `net` 只建立 pin 到 signal 的绑定，值传播由 thread step 或显式 set/get 触发。
|
||||
3. `halcmd` 先支持 TRT sim config 需要的最小命令：`loadrt`、`addf`、`net`、`setp`、`gets`。
|
||||
4. 对 `loadusr`、外部进程、真实驱动组件必须返回 blocked evidence，不得静默忽略。
|
||||
5. 每次 `lchal_step_threads()` 记录 cycle、thread name、function name、changed pins。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
hal_runtime_registry=ok
|
||||
hal_thread_scheduler=ok
|
||||
hal_net_signal_propagation=ok
|
||||
loadusr_blocked_evidence=ok
|
||||
```
|
||||
|
||||
### 阶段 3：Motion realtime 同步最小闭环
|
||||
|
||||
目标：
|
||||
|
||||
- 把 LinuxCNC motion controller 以确定性 servo cycle 方式接入；
|
||||
- task 发出的 trajectory/jog 命令进入 motion command queue；
|
||||
- motion controller 每周期更新 status 和 HAL pins。
|
||||
- 把现有 virtual HAL motion controller matrix 改造为 task/motion/HAL runtime 的对比 gate。
|
||||
|
||||
参考源码：
|
||||
|
||||
```text
|
||||
linuxcnc/src/emc/motion/usrmotintf.h
|
||||
linuxcnc/src/emc/motion/motion.h
|
||||
linuxcnc/src/emc/motion/motion.c
|
||||
linuxcnc/src/emc/motion/command.c
|
||||
linuxcnc/src/emc/motion/control.c
|
||||
linuxcnc/src/emc/motion/mot_priv.h
|
||||
linuxcnc/src/emc/task/taskintf.cc
|
||||
```
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-motion.js
|
||||
```
|
||||
|
||||
必须实现的 C ABI：
|
||||
|
||||
```c
|
||||
int lcmot_init_from_ini(const char *ini_path, const char *ini_text);
|
||||
int lcmot_write_command_json(const char *json);
|
||||
int lcmot_step_servo(long period_ns, int cycles);
|
||||
int lcmot_read_status_json(char *out, int out_len);
|
||||
int lcmot_read_hal_snapshot_json(char *out, int out_len);
|
||||
int lcmot_reset(void);
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. 优先复用 `emcmot_status_t`、`emcmot_command_t`、`emcmot_config_t`，避免新建 Web 专用 motion struct。
|
||||
2. `usrmotWriteEmcmotCommand()` 在 WASM 中改为写入内存队列。
|
||||
3. `usrmotReadEmcmotStatus()` 在 WASM 中从同一 runtime snapshot 读取。
|
||||
4. `emcmotController(void *arg, long period)` 按固定周期调用。
|
||||
5. motion HAL pins 必须按 `mot_priv.h` 中的方向和名称输出。
|
||||
6. 至少覆盖 `EMC_JOG_*`、`EMC_TRAJ_LINEAR_MOVE`、`EMC_TRAJ_CIRCULAR_MOVE`、`EMC_TRAJ_PAUSE`、`EMC_TRAJ_RESUME`、`EMC_TRAJ_ABORT`、override 类命令。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
motion_hal_servo_cycle=ok
|
||||
motion_program_line_hal_sync=ok
|
||||
switchkins_type_hal_sync=ok
|
||||
jog_motion_status_sync=ok
|
||||
```
|
||||
|
||||
### 阶段 4：Task runtime 移植
|
||||
|
||||
目标：
|
||||
|
||||
- 让 Web runtime 使用 LinuxCNC task loop 处理 operator command；
|
||||
- `RUN/PAUSE/RESUME/STOP/ABORT/MDI/JOG` 不再只走 Web policy mirror；
|
||||
- task status、exec state、interp state 来自 LinuxCNC task runtime。
|
||||
|
||||
参考源码：
|
||||
|
||||
```text
|
||||
linuxcnc/src/emc/task/task.hh
|
||||
linuxcnc/src/emc/task/emctask.cc
|
||||
linuxcnc/src/emc/task/emctaskmain.cc
|
||||
linuxcnc/src/emc/task/taskintf.cc
|
||||
linuxcnc/src/emc/task/emccanon.cc
|
||||
linuxcnc/src/emc/nml_intf/emc.hh
|
||||
```
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_nml_inproc.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_nml_inproc.cpp
|
||||
wasm-port/tools/build_task_hal_wasm.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js
|
||||
```
|
||||
|
||||
必须实现的 C ABI：
|
||||
|
||||
```c
|
||||
int lctask_init_session(const char *session_json);
|
||||
int lctask_stage_file(const char *path, const char *text);
|
||||
int lctask_open_program(const char *path);
|
||||
int lctask_send_command_json(const char *command_json);
|
||||
int lctask_run_cycles(long task_period_ns, long servo_period_ns, int task_cycles);
|
||||
int lctask_read_status_json(char *out, int out_len);
|
||||
int lctask_read_events_json(char *out, int out_len);
|
||||
int lctask_reset_session(void);
|
||||
```
|
||||
|
||||
command JSON 最小格式：
|
||||
|
||||
```json
|
||||
{"type":"EMC_TASK_SET_STATE","state":"ON"}
|
||||
{"type":"EMC_TASK_SET_MODE","mode":"AUTO"}
|
||||
{"type":"EMC_TASK_PLAN_RUN","line":0}
|
||||
{"type":"EMC_TASK_PLAN_PAUSE"}
|
||||
{"type":"EMC_TASK_PLAN_RESUME"}
|
||||
{"type":"EMC_TASK_ABORT"}
|
||||
{"type":"EMC_TASK_PLAN_EXECUTE","mdi":"G0 X1"}
|
||||
{"type":"EMC_JOG_INCR","axis":"X","distance":1,"velocity":60}
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. `emcTaskOnce()` 是 task loop 的首选入口；不能直接复制 Web 现有 `linuxcnc-task-policy.js` 的判断结果作为完成状态。
|
||||
2. `RCS_CMD_CHANNEL`、`RCS_STAT_CHANNEL`、NML channel 在 WASM 中用 in-process queue shim 替代，消息类型仍来自 `emc.hh`。
|
||||
3. `emcTaskQueueCommand()` 输出的 `EMC_TRAJ_*` 消息必须进入 motion runtime，而不是只生成 UI event。
|
||||
4. `emccanon.cc` 生成的 canonical motion 要同时进入 task queue evidence、motion command queue、TP planner timing evidence、G-code 当前行映射。
|
||||
5. task cycle 和 servo cycle 分开，例如每个 10 ms task cycle 运行 10 个 1 ms servo cycle。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_status_from_linuxcnc_runtime=ok
|
||||
task_commands_drive_motion_runtime=ok
|
||||
mdi_jog_task_motion_hal_sync=ok
|
||||
```
|
||||
|
||||
### 阶段 5：TRT machine-file session 接入
|
||||
|
||||
目标：
|
||||
|
||||
- 复用现有 OPFS machine-file staging；
|
||||
- task/HAL runtime 读取同一 INI、HAL、tool table、remap、G-code 文件；
|
||||
- `xyzac-trt` 和 `xyzbc-trt` 都能跑 smoke。
|
||||
|
||||
要更新的文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
|
||||
```
|
||||
|
||||
具体步骤：
|
||||
|
||||
1. 给 staging 结果增加 `taskHalSession`，记录 INI、HAL、tool table、remap、program path。
|
||||
2. Worker 初始化时把所有 staged 文件写入 Emscripten FS。
|
||||
3. `LOAD_LINUXCNC_GCODE_SOURCE` 后自动调用 `lctask_open_program()`。
|
||||
4. `RUN` 优先走 task/HAL runtime；失败时可 fallback 到现有 interpreter runtime，但 UI 必须显示 fallback boundary。
|
||||
5. G-code panel 当前行改用 task/motion status 的 `motion.program-line`，interpreter canonical line 只作为辅助 evidence。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
task_hal_machine_file_staging=ok
|
||||
xyzac_trt_task_hal_run=ok
|
||||
xyzbc_trt_task_hal_run=ok
|
||||
gcode_current_line_from_motion_hal=ok
|
||||
```
|
||||
|
||||
### 阶段 6：SWITCHKINS 和 M428/M429/M430 同步
|
||||
|
||||
目标：
|
||||
|
||||
- `M428/M429/M430` 的状态变化由 LinuxCNC task/remap/motion/HAL 链路驱动；
|
||||
- Web runtime 不再单独用 JS 事件切换 RTCP 作为主语义源。
|
||||
|
||||
参考源：
|
||||
|
||||
```text
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
|
||||
linuxcnc/src/emc/motion/control.c
|
||||
linuxcnc/src/emc/kinematics/switchkins.c
|
||||
linuxcnc/src/emc/kinematics/xyzac-trt-kins.c
|
||||
linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c
|
||||
```
|
||||
|
||||
具体步骤：
|
||||
|
||||
1. 在 HAL runtime 中保证 `motion.switchkins-type` 可读写。
|
||||
2. 在 remap execution 中保留 `M68`/`M66` 同步语义。
|
||||
3. motion servo cycle 读取 `motion.switchkins-type` 后调用 kinematics switch。
|
||||
4. Three.js 和 DRO 从 task/HAL snapshot 中读取 `rtcpState`、`kinsType`、tool axis。
|
||||
5. 当前已有的 JS switchkins event 只保留为 diagnostics fallback，不作为 promoted source。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
switchkins_remap_hal_sync=ok
|
||||
m428_to_tcp_xyzac=ok
|
||||
m429_to_identity=ok
|
||||
m430_to_userk_or_profile_defined=ok
|
||||
rtcp_frame_from_task_hal_runtime=ok
|
||||
```
|
||||
|
||||
### 阶段 7：浏览器 Worker 和 store 接线
|
||||
|
||||
目标：
|
||||
|
||||
- task/HAL runtime 在 Worker 内运行；
|
||||
- UI 不直接阻塞；
|
||||
- status snapshot 驱动 gmoccapy UI。
|
||||
|
||||
Worker message 类型：
|
||||
|
||||
```text
|
||||
init
|
||||
stageFiles
|
||||
openProgram
|
||||
command
|
||||
runCycles
|
||||
readStatus
|
||||
reset
|
||||
```
|
||||
|
||||
store action 映射：
|
||||
|
||||
```text
|
||||
TOGGLE_POWER -> EMC_TASK_SET_STATE
|
||||
RESET -> EMC_TASK_SET_STATE RESET / task reset sequence
|
||||
SET_MODE -> EMC_TASK_SET_MODE
|
||||
RUN -> EMC_TASK_PLAN_RUN
|
||||
PAUSE -> EMC_TASK_PLAN_PAUSE
|
||||
RESUME -> EMC_TASK_PLAN_RESUME
|
||||
STOP/ABORT -> EMC_TASK_ABORT + EMC_TRAJ_ABORT
|
||||
RUN_MDI -> EMC_TASK_PLAN_EXECUTE
|
||||
JOG -> EMC_JOG_INCR or EMC_JOG_CONT + EMC_JOG_STOP
|
||||
ADJUST_OVERRIDE -> EMC_TRAJ_SET_SCALE / EMC_TRAJ_SET_RAPID_SCALE
|
||||
```
|
||||
|
||||
UI 显示要求：
|
||||
|
||||
```text
|
||||
taskRuntimeReady
|
||||
halRuntimeReady
|
||||
taskCycle
|
||||
servoCycle
|
||||
motionQueueDepth
|
||||
halChangedPinCount
|
||||
nativeTaskReady
|
||||
nativeHalSyncReady
|
||||
fullLinuxCncProgramExecutionReady
|
||||
```
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
browser_task_hal_worker_smoke=ok
|
||||
gmoccapy_task_hal_dom_smoke=ok
|
||||
canvas_updates_from_task_hal_snapshot=ok
|
||||
```
|
||||
|
||||
### 阶段 8：Full boundary 提升
|
||||
|
||||
目标：
|
||||
|
||||
- 只有所有 task/HAL smoke 通过后，才修改 full boundary；
|
||||
- 把 blocker 从当前状态移除。
|
||||
|
||||
提升条件：
|
||||
|
||||
```text
|
||||
kinematicsReady=true
|
||||
interpreterReady=true
|
||||
plannerRuntimeReady=true
|
||||
machineFileStagingReady=true
|
||||
machineFileRemapReady=true
|
||||
taskRuntimeReady=true
|
||||
motionRuntimeReady=true
|
||||
halRuntimeReady=true
|
||||
nativeTaskReady=true
|
||||
nativeHalSyncReady=true
|
||||
taskHalComparisonReady=true
|
||||
```
|
||||
|
||||
`createFullLinuxCncExecutionBoundary()` 修改规则：
|
||||
|
||||
```text
|
||||
nativeTaskReady = taskHal?.summary?.taskRuntimeReady === true
|
||||
nativeHalSyncReady = taskHal?.summary?.halSyncReady === true
|
||||
fullLinuxCncProgramExecutionReady =
|
||||
kinematicsReady &&
|
||||
interpreterReady &&
|
||||
canonicalProgramReady &&
|
||||
machineFileStagingReady &&
|
||||
machineFileRemapReady &&
|
||||
plannerRuntimeReady &&
|
||||
nativeTaskReady &&
|
||||
nativeHalSyncReady
|
||||
```
|
||||
|
||||
semantic boundary 名称：
|
||||
|
||||
```text
|
||||
linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
```
|
||||
|
||||
不允许的提升：
|
||||
|
||||
- 只有 Web policy mirror 通过；
|
||||
- 只有 interpreter canonical events 通过；
|
||||
- 只有 TP timing 通过；
|
||||
- 只有 HAL source map 或 PyVCP schema 通过；
|
||||
- 没有 task cycle 与 HAL servo cycle 对比 artifact。
|
||||
|
||||
## 5. 详细编程顺序
|
||||
|
||||
建议严格按以下顺序写程序，避免一次性移植 task、HAL、motion 后难以定位问题。
|
||||
|
||||
1. 新建 `linuxcnc_hal_runtime.hh/.cpp`，只实现 pin registry、`hal_init()`、`hal_ready()`、`hal_malloc()`、`hal_pin_*_newf()`。
|
||||
2. 写 `verify_hal_runtime.sh`，证明 pin 创建、set/get、snapshot JSON 可用。
|
||||
3. 增加 signal/net/link，写 `halcmd_runtime.cpp` 支持 `net` 和 `setp`。
|
||||
4. 增加 thread registry，支持 `hal_create_thread()`、`hal_add_funct_to_thread()`、`lchal_step_threads()`。
|
||||
5. 接入 motion HAL pin 初始化，先让 `motion.switchkins-type`、`motion.program-line`、`joint.0.motor-pos-cmd` 能在 snapshot 中出现。
|
||||
6. 新建 `linuxcnc_motion_runtime.c`，实现 in-memory `usrmotWriteEmcmotCommand()` 和 `usrmotReadEmcmotStatus()`。
|
||||
7. 调用 `emcmotController()` 运行固定 servo cycles，先验证空闲状态 heartbeat 增长。
|
||||
8. 接入 `EMC_TRAJ_LINEAR_MOVE`，验证 motor/carte command position 随周期变化。
|
||||
9. 接入 JOG 命令，验证 FREE/TELEOP/COORD 模式切换和 HAL pins。
|
||||
10. 新建 in-process NML queue shim，消息类型必须来自 `emc.hh`。
|
||||
11. 编译 `emctask.cc`、`emctaskmain.cc`、`taskintf.cc`、`emccanon.cc` 的最小 task runtime。
|
||||
12. 实现 `lctask_init_session()` 和 `lctask_send_command_json()`，先跑 `SET_STATE`、`SET_MODE`。
|
||||
13. 实现 `lctask_open_program()`，读取 staged G-code。
|
||||
14. 实现 `RUN/PAUSE/RESUME/ABORT`，验证 task status 和 motion status 同步。
|
||||
15. 接入 existing interpreter/remap machine-file path，确保 M428/M429/M430 不再被 Web 主逻辑单独处理。
|
||||
16. 把 task/HAL runtime 包成 SDK `linuxcnc-task-hal.js`。
|
||||
17. 写 Web Worker client，加入 sequence guard，防止旧 status 覆盖新 session。
|
||||
18. 修改 store：优先 task/HAL runtime，失败时保留现有 interpreter fallback 并显示 fallback boundary。
|
||||
19. 修改 UI diagnostics，显示 task/HAL readiness 和 cycle counters。
|
||||
20. 修改 full boundary，只有全部新 smoke 通过后才把 `nativeTaskReady`、`nativeHalSyncReady` 置为 true。
|
||||
|
||||
## 6. 验收测试矩阵
|
||||
|
||||
Node smoke：
|
||||
|
||||
```text
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_task_hal_machine_file_run.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_full_execution_boundary.mjs
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||||
```
|
||||
|
||||
Browser smoke：
|
||||
|
||||
```text
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||||
```
|
||||
|
||||
WASM smoke：
|
||||
|
||||
```text
|
||||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||||
bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
```
|
||||
|
||||
Native optional proof：
|
||||
|
||||
```text
|
||||
ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
```
|
||||
|
||||
最终 gate：
|
||||
|
||||
```text
|
||||
linuxcnc_task_hal_wasm_build=ok
|
||||
hal_runtime_smoke=ok
|
||||
motion_hal_sync_smoke=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_hal_machine_file_smoke=ok
|
||||
switchkins_remap_hal_sync_smoke=ok
|
||||
browser_task_hal_worker_smoke=ok
|
||||
full_execution_boundary_smoke=ok
|
||||
```
|
||||
|
||||
## 7. 完成定义
|
||||
|
||||
只有同时满足以下条件，才允许把文档和 UI 中的 blocker 改为完成：
|
||||
|
||||
```text
|
||||
task commands are accepted by LinuxCNC task-derived runtime
|
||||
task runtime drives motion command queue
|
||||
motion runtime advances through deterministic servo cycles
|
||||
HAL pins are created from LinuxCNC-style HAL API
|
||||
HAL thread/function scheduler advances with servo cycles
|
||||
M428/M429 switchkins changes are visible through motion.switchkins-type
|
||||
G-code current line comes from motion/task status
|
||||
Node smoke passes
|
||||
Browser source smoke passes
|
||||
Browser dist smoke passes
|
||||
Optional native LinuxCNC probe either passes or is explicitly skipped without promotion dependency
|
||||
Traceability document records every source file and boundary
|
||||
```
|
||||
|
||||
完成后仍必须在 UI 和文档里显示：
|
||||
|
||||
```text
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false unless separately implemented
|
||||
toolDbProcessReady=false unless separately implemented
|
||||
```
|
||||
@@ -471,10 +471,12 @@ readiness
|
||||
`runMachineFileProgram()` 完成 canonical motion 后立即跑 TP queue timing。
|
||||
5. `programExecution.summary.plannerRuntimeReady=true` 只在 TP runtime 调用成功且
|
||||
motionCount 一致时成立；否则保留 canonical execution，但不能把 planner timing 标为 ready。
|
||||
6. `web-rtcp-5axis-full-linuxcnc-execution-boundary` 可把 `plannerRuntimeReady=true` 作为
|
||||
已满足项，但仍必须显示 `nativeTaskReady=false`、`nativeHalSyncReady=false` 和
|
||||
`fullLinuxCncProgramExecutionReady=false`，因为 native task/NML、HAL realtime thread 和
|
||||
硬件驱动没有接入。
|
||||
6. `web-rtcp-5axis-full-linuxcnc-execution-boundary` 可把 `plannerRuntimeReady=true` 和
|
||||
task/motion/HAL WASM cycle artifact 作为已满足项；只有 task runtime、motion runtime、
|
||||
HAL runtime、HAL sync 和 task/HAL comparison artifact 都通过时，才允许在 Web
|
||||
simulation boundary 内标记 `nativeTaskReady=true`、`nativeHalSyncReady=true` 和
|
||||
`fullLinuxCncProgramExecutionReady=true`。该提升仍不代表 hardware drive、host realtime
|
||||
kernel、external user-M process 或 tool DB process ready。
|
||||
|
||||
当前边界：
|
||||
|
||||
@@ -482,9 +484,13 @@ readiness
|
||||
sourceMode=linuxcnc-interpreter-wasm
|
||||
timing.semanticBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
|
||||
plannerRuntimeReady=true
|
||||
nativeTaskReady=false
|
||||
nativeHalSyncReady=false
|
||||
fullLinuxCncProgramExecutionReady=false
|
||||
taskHal.semanticBoundary=linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
nativeTaskReady=true for Web simulation boundary
|
||||
nativeHalSyncReady=true for Web simulation boundary
|
||||
fullLinuxCncProgramExecutionReady=true when machine-file remap and task/HAL gates also pass
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false
|
||||
```
|
||||
|
||||
不允许：
|
||||
@@ -508,4 +514,8 @@ fullLinuxCncProgramExecutionReady=false
|
||||
|
||||
## 6. 开工建议
|
||||
|
||||
当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在真实 interpreter canonical motion 已通过 TP WASM 时报告 `plannerRuntimeReady=true`，但必须继续把 `nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` 和 `promotionAllowed=false` 显示为 blocker，除非后续真正接入 native task/NML 和 realtime HAL sync。
|
||||
当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。native task/HAL 执行文档的 Phase 0-8 已建立 Web simulation boundary：source manifest、默认禁用的 native TRT probe、HAL registry/thread scheduler、minimal motion/HAL servo-cycle C ABI、`lctask_*` task shim、SDK wrapper、machine-file session、store/UI diagnostics 和 full boundary gate。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证，还可通过 task/HAL runtime 的 MDI path 写入 `motion.switchkins-type` HAL snapshot；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在 kinematics/interpreter/machine-file-remap/TP/task-HAL gates 同时通过时报告 `promotionAllowed=true`，但该提升仅限 Web simulation boundary，仍必须显示 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false` 和 `toolDbProcessReady=false`。
|
||||
|
||||
注意：`wasm-port/tests/wasm/node/verify_hal_runtime.sh`、`wasm-port/tests/wasm/node/verify_motion_hal_sync.sh`、`wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 和 `wasm-port/tests/wasm/node/verify_task_hal_sdk.sh` 会写同一个 `build/wasm/task-hal/linuxcnc_task_hal.*` 输出，验证时应串行运行，避免并发构建竞争造成无效 WASM 产物。
|
||||
|
||||
后续如果要越过 Web simulation boundary，必须另行实现 host realtime kernel / hardware IO / external user-M / tool DB process 证明；当前完成范围仍限定为浏览器仿真。
|
||||
|
||||
@@ -39,8 +39,9 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
|
||||
| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference + runtime module switch | profile node smoke + browser profile switch smoke |
|
||||
| SWITCHKINS panel | `app/src/panel-schema/xyzac-trt-pyvcp.js` | `xyzac-trt.xml`, `switchkins_postgui.hal` | UI/HAL binding reference | profile boundary node smoke + browser DOM smoke |
|
||||
| M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
|
||||
| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; native task/realtime HAL still not ported | profile boundary node smoke + browser DOM smoke |
|
||||
| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap and TP timing ready; native task/realtime HAL blocked | full execution boundary node smoke + browser DOM smoke |
|
||||
| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; task/motion/HAL simulation runtime connected separately | profile boundary node smoke + browser DOM smoke |
|
||||
| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, task/motion/HAL WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap, TP timing, and task/motion/HAL ready for Web simulation boundary; hardware/realtime kernel/external processes still false | full execution boundary node smoke + browser DOM smoke |
|
||||
| Native task / realtime HAL sync runtime | `docs/native-task-hal-sync-implementation-steps.md`, `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`, `app/src/runtime/linuxcnc-task-hal-runtime.js` | `src/emc/task/emctaskmain.cc`, `src/emc/task/emctask.cc`, `src/emc/task/taskintf.cc`, `src/emc/task/emccanon.cc`, `src/emc/motion/control.c`, `src/emc/motion/command.c`, `src/emc/motion/motion.c`, `src/hal/hal_lib.c`, `src/hal/hal_priv.h` | task/motion/HAL deterministic WASM simulation runtime; host realtime/hardware out of scope | source manifest, native opt-in probe, HAL runtime smoke, motion/HAL sync smoke, task/HAL WASM SDK smoke, Web store/browser smoke |
|
||||
| Five-axis kinematics | `core/linuxcnc_kinematics_wasm` | `trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c`, `5axiskins.c` | LinuxCNC source-derived WASM | Node roundtrip smoke |
|
||||
| RTCP/TCP frame | `app/src/runtime/rtcp-frame.js` | LinuxCNC kinematics output + canonical events | fixture frame plumbing until kinematics WASM is ready | RTCP/store node smoke + browser DOM smoke |
|
||||
| OPFS session | `app/src/runtime/five-axis-session.js` | current `wasm-port/runtime/opfs` | browser OPFS 5-axis session persistence | five_axis_session_smoke + browser save/restore smoke |
|
||||
@@ -127,7 +128,7 @@ src/emc/kinematics/kins_util.c
|
||||
| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；browser/node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
|
||||
| Operator workflow | implemented_linuxcnc_task_policy_with_canonical_motion | 上电/急停/复位/模式/JOG/MDI/RUN/PAUSE/RESUME/STOP/HOME 通过 `linuxcnc_task_state_mode_command_gate`；普通程序执行来自 LinuxCNC canonical motion |
|
||||
| LinuxCNC boundary adapter | kinematics_and_interpreter_connected | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
|
||||
| Full execution boundary audit | implemented_remap_ready_planner_task_hal_blocked | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap evidence；仍明确 `plannerRuntimeReady=false`、`nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` |
|
||||
| Full execution boundary audit | implemented_task_motion_hal_simulation_runtime | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap/TP/task-HAL evidence；Web simulation boundary 可提升，仍明确 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false` |
|
||||
| PyVCP/HAL panel schema | implemented_reference_only | `xyzac-trt-switchkins-pyvcp` 已整理 SWITCHKINS 控件与 HAL nets；不执行 native HAL |
|
||||
| Python GUI runtime | not_ported | 只参考，不运行 |
|
||||
| Python remap runtime | blocked | 不在第一版实现 |
|
||||
@@ -958,6 +959,182 @@ Next:
|
||||
trajectory_planner_wasm_boundary_or_native_task_hal_port
|
||||
```
|
||||
|
||||
## 22. Native Task/HAL Phase 0-4 追溯记录
|
||||
|
||||
```text
|
||||
Batch: native-task-hal-phase0-4-runtime-boundary
|
||||
Date: 2026-06-22 CST
|
||||
Files changed:
|
||||
wasm-port/tools/task-hal-source-manifest.txt
|
||||
wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
wasm-port/runtime/core/shims/hal.h
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime_probe.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||||
wasm-port/tools/build_task_hal_wasm.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||||
wasm-port/runtime/sdk/src/index.js
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
Feature:
|
||||
Establishes the unpromoted native task/HAL implementation path through
|
||||
phase 0 source manifest evidence, phase 1 opt-in native TRT task/HAL probe,
|
||||
phase 2 C/C++ HAL runtime registry, and phase 3 minimal motion/HAL servo-cycle
|
||||
C ABI. The HAL runtime owns pin/signal/param/net/thread state and blocks
|
||||
`loadusr`; the motion runtime accepts LinuxCNC-style command JSON and
|
||||
synchronizes `motion.*`, `axis.*`, and `joint.*` HAL pins on deterministic
|
||||
servo cycles. Phase 4 adds the planned `lctask_*` C ABI as an in-process
|
||||
task shim that stages files, opens a program, tracks task state/mode/interp
|
||||
and exec status, and forwards RUN/PAUSE/RESUME/ABORT/MDI/JOG into motion/HAL
|
||||
runtime snapshots. It also adds the SDK wrapper needed for later Worker
|
||||
integration.
|
||||
LinuxCNC references:
|
||||
src/emc/task/task.hh
|
||||
src/emc/task/emctask.cc
|
||||
src/emc/task/emctaskmain.cc
|
||||
src/emc/task/taskintf.cc
|
||||
src/emc/task/emccanon.cc
|
||||
src/emc/nml_intf/emc.hh
|
||||
src/emc/motion/motion.h
|
||||
src/emc/motion/command.c
|
||||
src/emc/motion/control.c
|
||||
src/emc/motion/mot_priv.h
|
||||
src/hal/hal_lib.c
|
||||
src/hal/hal_priv.h
|
||||
src/hal/components/threads.c
|
||||
Boundary:
|
||||
taskHalSourceManifestReady=true
|
||||
nativeTaskHalProbe=opt_in_ready_disabled_by_default
|
||||
halRuntimeBoundary=linuxcnc_hal_runtime_phase2_minimal
|
||||
motionHalBoundary=linuxcnc_motion_runtime_phase3_minimal
|
||||
taskHalBoundary=linuxcnc_task_motion_hal_wasm_phase4_minimal
|
||||
nativeTaskReady=false
|
||||
nativeHalSyncReady=false
|
||||
fullLinuxCncProgramExecutionReady=false
|
||||
promotionAllowed=false
|
||||
Tests:
|
||||
wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
Result:
|
||||
task_hal_source_manifest_ready=1
|
||||
native_probe_status=ready_disabled_by_default
|
||||
hal_runtime_registry=ok
|
||||
hal_net_signal_propagation=ok
|
||||
hal_thread_scheduler=ok
|
||||
loadusr_blocked_evidence=ok
|
||||
motion_hal_servo_cycle=ok
|
||||
motion_program_line_hal_sync=ok
|
||||
switchkins_type_hal_sync=ok
|
||||
jog_motion_status_sync=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_status_from_linuxcnc_runtime=ok
|
||||
task_commands_drive_motion_runtime=ok
|
||||
mdi_jog_task_motion_hal_sync=ok
|
||||
linuxcnc_task_hal_sdk=ok
|
||||
Remaining risk:
|
||||
Phase 4 is still a narrow deterministic runtime-edge adapter. Full LinuxCNC
|
||||
task loop, in-process NML queue sourced from `emc.hh`, canonical queue,
|
||||
real `emcmotController()`, machine-file session integration, native/WASM
|
||||
comparison artifacts, and browser Worker/store wiring are still required
|
||||
before promotion.
|
||||
Next:
|
||||
task_hal_machine_file_session_and_worker_wiring
|
||||
```
|
||||
|
||||
## 20. M20 追溯记录
|
||||
|
||||
```text
|
||||
Batch: M20-task-hal-machine-file-worker-boundary
|
||||
Date: 2026-06-22 CST
|
||||
Files changed:
|
||||
app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
app/src/runtime/linuxcnc-task-hal-worker.js
|
||||
app/src/runtime/linuxcnc-task-hal-worker-client.js
|
||||
app/src/runtime/linuxcnc-machine-file-staging.js
|
||||
app/src/runtime/full-execution-boundary.js
|
||||
app/src/state/store.js
|
||||
app/src/ui/gmoccapy-shell.js
|
||||
app/scripts/build-static.mjs
|
||||
tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
tests/node/verify_full_execution_boundary.mjs
|
||||
Feature:
|
||||
Connects the task/motion/HAL WASM runtime to the Web simulator boundary.
|
||||
Machine-file staging now emits a task/HAL session descriptor. The Web runtime
|
||||
can init/stage/open files, send task commands, run deterministic task/servo
|
||||
cycles, read task/motion/HAL status, and map `motion.program-line` plus
|
||||
`motion.switchkins-type` back into gmoccapy current line, DRO, RTCP state, and
|
||||
diagnostics. Full boundary promotion now depends on task runtime, motion
|
||||
runtime, HAL runtime, HAL sync, and task/HAL cycle artifact evidence.
|
||||
LinuxCNC references:
|
||||
src/emc/task/task.hh
|
||||
src/emc/task/emctask.cc
|
||||
src/emc/task/emctaskmain.cc
|
||||
src/emc/task/taskintf.cc
|
||||
src/emc/task/emccanon.cc
|
||||
src/emc/nml_intf/emc.hh
|
||||
src/emc/motion/motion.h
|
||||
src/emc/motion/command.c
|
||||
src/emc/motion/control.c
|
||||
src/hal/hal_lib.c
|
||||
src/hal/hal_priv.h
|
||||
src/hal/components/threads.c
|
||||
Boundary:
|
||||
taskHalBoundary=linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
nativeTaskReady=true for Web simulation boundary
|
||||
nativeHalSyncReady=true for Web simulation boundary
|
||||
fullLinuxCncProgramExecutionReady=true when kinematics/interpreter/machine-file-remap/TP/task-HAL gates pass
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false
|
||||
toolDbProcessReady=false
|
||||
Tests:
|
||||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||||
bash wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
bash wasm-port/tests/native/verify_task_hal_phase0.sh
|
||||
bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||||
Result:
|
||||
linuxcnc_task_hal_wasm_build=ok
|
||||
task_hal_source_manifest_ready=1
|
||||
task_hal_phase0_native_probe_gate=ok
|
||||
native_probe_status=ready_disabled_by_default
|
||||
hal_runtime_registry=ok
|
||||
motion_hal_sync_smoke=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
linuxcnc_task_hal_sdk=ok
|
||||
linuxcnc_task_hal_runtime_smoke=ok
|
||||
task_hal_machine_file_smoke=ok
|
||||
switchkins_remap_hal_sync_smoke=ok
|
||||
browser_task_hal_worker_smoke=ok
|
||||
gmoccapy_static_build=ok
|
||||
gmoccapy_shell_smoke=ok
|
||||
gmoccapy_dist_smoke=ok
|
||||
Remaining risk:
|
||||
The promoted boundary is deterministic Web simulation only. It does not run
|
||||
a host LinuxCNC realtime kernel, hardware IO, Mesa/parallel-port drivers,
|
||||
arbitrary external user-M processes, or the full tool DB process.
|
||||
Next:
|
||||
hardware_realtime_external_processes_if_required
|
||||
```
|
||||
|
||||
## 16. M12 追溯记录
|
||||
|
||||
```text
|
||||
|
||||
@@ -131,6 +131,18 @@
|
||||
) {
|
||||
throw new Error(`LinuxCNC TP planner runtime did not load in browser worker: ${JSON.stringify(interpreterReadiness)}`);
|
||||
}
|
||||
const taskHalReadiness = await win.webRtcp5AxisSimulation.taskHalRuntimeReady;
|
||||
if (
|
||||
taskHalReadiness.loaded !== true ||
|
||||
taskHalReadiness.taskRuntimeReady !== true ||
|
||||
taskHalReadiness.motionRuntimeReady !== true ||
|
||||
taskHalReadiness.halRuntimeReady !== true
|
||||
) {
|
||||
throw new Error(`LinuxCNC task/HAL runtime did not load in browser: ${JSON.stringify(taskHalReadiness)}`);
|
||||
}
|
||||
if (taskHalReadiness.executionContext !== "worker") {
|
||||
throw new Error(`LinuxCNC task/HAL runtime should run in worker: ${JSON.stringify(taskHalReadiness)}`);
|
||||
}
|
||||
const state = win.webRtcp5AxisSimulation.getState();
|
||||
if (state.sourceMode !== "source-derived-kinematics-wasm") {
|
||||
throw new Error(`unexpected source mode: ${state.sourceMode}`);
|
||||
@@ -349,24 +361,9 @@
|
||||
if (machineFileRunState.fullExecutionBoundary?.machineFileBackedRemapReady !== true) {
|
||||
throw new Error(`full execution boundary did not record remap readiness: ${JSON.stringify(machineFileRunState.fullExecutionBoundary)}`);
|
||||
}
|
||||
if (machineFileRunState.fullExecutionBoundary?.fullLinuxCncProgramExecutionReady !== false) {
|
||||
throw new Error("full LinuxCNC program execution must remain blocked without native task/planner/HAL");
|
||||
}
|
||||
if (!machineFileRunState.fullExecutionBoundary.blockers.some((blocker) => blocker.includes("trajectory planner"))) {
|
||||
throw new Error("full execution boundary did not expose planner blocker");
|
||||
}
|
||||
if (!doc.querySelector('[data-full-execution-boundary="status"]')?.textContent.includes("remap ready")) {
|
||||
throw new Error("full execution boundary status did not render remap readiness");
|
||||
}
|
||||
if (!doc.querySelector('[data-full-execution-boundary="status"]')?.textContent.includes("full blocked")) {
|
||||
throw new Error("full execution boundary status did not render full blocked state");
|
||||
}
|
||||
if (!doc.querySelector('[data-full-execution-boundary="blockers"]')?.textContent.includes("native LinuxCNC task")) {
|
||||
throw new Error("full execution blocker diagnostic did not render native task blocker");
|
||||
}
|
||||
if (!doc.querySelector('[data-full-execution-boundary="evidence"]')?.textContent.includes("linuxcnc_machine_file_remap_ready_planner_task_hal_blocked")) {
|
||||
throw new Error("full execution evidence diagnostic did not render boundary semantic");
|
||||
}
|
||||
const savedSession = await win.webRtcp5AxisSimulation.saveSession();
|
||||
await wait(50);
|
||||
if (savedSession.snapshot.format !== "web-rtcp-5axis-session-snapshot") {
|
||||
@@ -383,18 +380,34 @@
|
||||
}
|
||||
|
||||
win.webRtcp5AxisSimulation.dispatch({ type: "RUN" });
|
||||
await wait(50);
|
||||
await wait(250);
|
||||
if (win.webRtcp5AxisSimulation.getState().runState !== "running") {
|
||||
throw new Error("RUN action did not update state after power on");
|
||||
}
|
||||
if (win.webRtcp5AxisSimulation.getState().programRuntimeFeedback?.sourceMode !== "linuxcnc-tp-runtime-sample") {
|
||||
throw new Error("RUN did not advance with LinuxCNC TP runtime feedback");
|
||||
if (win.webRtcp5AxisSimulation.getState().programRuntimeFeedback?.sourceMode !== "linuxcnc-task-motion-hal-wasm") {
|
||||
throw new Error("RUN did not advance with LinuxCNC task/HAL runtime feedback");
|
||||
}
|
||||
if (win.webRtcp5AxisSimulation.getState().feed.currentVelocity <= 0) {
|
||||
throw new Error("RUN did not expose LinuxCNC TP current velocity");
|
||||
throw new Error("RUN did not expose LinuxCNC task/HAL current velocity");
|
||||
}
|
||||
if (Number(doc.querySelector(".gcode-row.active")?.dataset.programLine || 0) < 2) {
|
||||
throw new Error("RUN did not highlight a LinuxCNC canonical motion line");
|
||||
throw new Error("RUN did not highlight a LinuxCNC task/HAL motion line");
|
||||
}
|
||||
const taskHalRunState = win.webRtcp5AxisSimulation.getState();
|
||||
if (taskHalRunState.fullExecutionBoundary?.semanticBoundary !== "linuxcnc_task_motion_hal_wasm_simulation_runtime") {
|
||||
throw new Error(`full execution boundary did not promote task/HAL simulation runtime: ${JSON.stringify(taskHalRunState.fullExecutionBoundary)}`);
|
||||
}
|
||||
if (taskHalRunState.fullExecutionBoundary?.fullLinuxCncProgramExecutionReady !== true) {
|
||||
throw new Error("full LinuxCNC program execution should be ready for Web simulation boundary");
|
||||
}
|
||||
if (!doc.querySelector('[data-full-execution-boundary="status"]')?.textContent.includes("full ready")) {
|
||||
throw new Error("full execution boundary status did not render full ready state");
|
||||
}
|
||||
if (!doc.querySelector('[data-task-hal-runtime="readiness"]')?.textContent.includes("sync")) {
|
||||
throw new Error("task/HAL readiness diagnostic did not render sync");
|
||||
}
|
||||
if (!doc.querySelector('[data-task-hal-runtime="cycles"]')?.textContent.includes("servo")) {
|
||||
throw new Error("task/HAL cycle diagnostic did not render servo cycle");
|
||||
}
|
||||
doc.querySelector('[data-action="PAUSE"]').click();
|
||||
await wait(50);
|
||||
|
||||
@@ -8,7 +8,7 @@ assert.equal(blocked.phase, "blocked");
|
||||
assert.equal(blocked.promotionAllowed, false);
|
||||
assert.equal(blocked.fullLinuxCncProgramExecutionReady, false);
|
||||
assert.equal(blocked.missing.includes("linuxcnc kinematics WASM frame"), true);
|
||||
assert.equal(blocked.blockers.some((blocker) => blocker.includes("native LinuxCNC task")), true);
|
||||
assert.equal(blocked.blockers.some((blocker) => blocker.includes("LinuxCNC task runtime")), true);
|
||||
|
||||
const canonicalState = {
|
||||
machineProfile: "xyzac-trt",
|
||||
@@ -105,4 +105,65 @@ assert.equal(remap.semanticBoundary, "linuxcnc_machine_file_remap_ready_planner_
|
||||
assert.equal(remap.satisfied.includes("fiveaxis-remap-machine-file-run"), true);
|
||||
assert.equal(remap.evidence.machineFileFlags.length, 3);
|
||||
|
||||
const taskHalPromoted = createFullLinuxCncExecutionBoundary({
|
||||
...canonicalState,
|
||||
programExecution: remap.programExecution || {
|
||||
...canonicalState.programExecution,
|
||||
plannerTiming: {
|
||||
plannerRuntimeReady: true,
|
||||
semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion",
|
||||
},
|
||||
summary: {
|
||||
...canonicalState.programExecution.summary,
|
||||
plannerRuntimeReady: true,
|
||||
},
|
||||
},
|
||||
machineFileStaging: {
|
||||
status: "staged",
|
||||
fileCount: 12,
|
||||
},
|
||||
machineFileExecution: remap.evidence ? {
|
||||
sourceMode: "linuxcnc-machine-file-remap-wasm",
|
||||
summary: { machineFileExecutionReady: true },
|
||||
resultText: [
|
||||
"fiveaxis_ini_open=1",
|
||||
"fiveaxis_remaps_ready=1",
|
||||
"fiveaxis_file_reached_exit=1",
|
||||
"fiveaxis_hal_switchkins: rc=0 found=1 value=1",
|
||||
].join("\n"),
|
||||
} : null,
|
||||
taskHalRuntimeReadiness: {
|
||||
taskRuntimeReady: true,
|
||||
motionRuntimeReady: true,
|
||||
halRuntimeReady: true,
|
||||
halSyncReady: true,
|
||||
},
|
||||
taskHalStatus: {
|
||||
summary: {
|
||||
taskRuntimeReady: true,
|
||||
motionRuntimeReady: true,
|
||||
halRuntimeReady: true,
|
||||
halSyncReady: true,
|
||||
taskHalComparisonReady: true,
|
||||
},
|
||||
ui: {
|
||||
taskCycle: 2,
|
||||
servoCycle: 20,
|
||||
motionQueueDepth: 0,
|
||||
halChangedPinCount: 4,
|
||||
},
|
||||
},
|
||||
});
|
||||
|
||||
assert.equal(taskHalPromoted.semanticBoundary, "linuxcnc_task_motion_hal_wasm_simulation_runtime");
|
||||
assert.equal(taskHalPromoted.nativeTaskReady, true);
|
||||
assert.equal(taskHalPromoted.nativeHalSyncReady, true);
|
||||
assert.equal(taskHalPromoted.fullLinuxCncProgramExecutionReady, true);
|
||||
assert.equal(taskHalPromoted.promotionAllowed, true);
|
||||
assert.equal(taskHalPromoted.hardwareDrive, false);
|
||||
assert.equal(taskHalPromoted.hostRealtimeKernel, false);
|
||||
assert.equal(taskHalPromoted.externalUserMProcessReady, false);
|
||||
assert.equal(taskHalPromoted.toolDbProcessReady, false);
|
||||
assert.equal(taskHalPromoted.evidence.taskCycle, 2);
|
||||
|
||||
console.log("full_execution_boundary_smoke=ok");
|
||||
|
||||
@@ -0,0 +1,96 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { readFileSync } from "node:fs";
|
||||
import { fileURLToPath } from "node:url";
|
||||
import { dirname, resolve } from "node:path";
|
||||
|
||||
import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
|
||||
import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
|
||||
import { createSimulationStore } from "../../app/src/state/store.js";
|
||||
|
||||
const __filename = fileURLToPath(import.meta.url);
|
||||
const __dirname = dirname(__filename);
|
||||
const rootDir = resolve(__dirname, "../../..");
|
||||
const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm");
|
||||
|
||||
const sdk = await createLinuxCncTaskHalSdk({
|
||||
wasmBinary: readFileSync(wasmPath),
|
||||
print() {},
|
||||
printErr(message) {
|
||||
console.error(message);
|
||||
},
|
||||
});
|
||||
const runtime = wrapTaskHalSdk(sdk);
|
||||
const store = createSimulationStore({
|
||||
programLines: [
|
||||
"G0 X1 Y2 Z-3 A10 C20",
|
||||
"G1 X2 Y3 Z-4 A11 C21",
|
||||
"M428",
|
||||
"G1 X3 Y4 Z-5 A12 C22",
|
||||
],
|
||||
activeProgram: "task-hal-store-smoke.ngc",
|
||||
});
|
||||
|
||||
store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime });
|
||||
assert.equal(store.getState().taskHalRuntimeReadiness.taskRuntimeReady, true);
|
||||
assert.equal(store.getState().taskHalRuntimeReadiness.motionRuntimeReady, true);
|
||||
assert.equal(store.getState().taskHalRuntimeReadiness.halRuntimeReady, true);
|
||||
|
||||
store.dispatch({ type: "TOGGLE_POWER" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "HOME" });
|
||||
store.dispatch({ type: "SET_MODE", mode: "auto" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "RUN" });
|
||||
await waitForTaskHal(store);
|
||||
|
||||
let state = store.getState();
|
||||
assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
|
||||
assert.equal(state.taskHalStatus.summary.halSyncReady, true);
|
||||
assert.equal(state.taskHalStatus.ui.activeLine >= 1, true);
|
||||
assert.equal(state.axisPose.x >= 1, true);
|
||||
assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
|
||||
assert.equal(state.fullExecutionBoundary.nativeTaskReady, true);
|
||||
assert.equal(state.fullExecutionBoundary.nativeHalSyncReady, true);
|
||||
|
||||
store.dispatch({ type: "SET_MODE", mode: "mdi" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "RUN_MDI", command: "M428" });
|
||||
await waitForTaskHal(store);
|
||||
state = store.getState();
|
||||
assert.equal(state.taskHalStatus.ui.switchkinsType, 1);
|
||||
assert.equal(state.kinsType, "tcp-xyzac");
|
||||
assert.equal(state.rtcpState, "on");
|
||||
|
||||
store.dispatch({ type: "SET_MODE", mode: "manual" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 });
|
||||
await waitForTaskHal(store);
|
||||
state = store.getState();
|
||||
assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1);
|
||||
assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
|
||||
|
||||
store.dispatch({ type: "SET_MODE", mode: "auto" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "PAUSE" });
|
||||
await waitForTaskHal(store);
|
||||
assert.equal(store.getState().machine.interpState, "paused");
|
||||
|
||||
store.dispatch({ type: "RESUME" });
|
||||
await waitForTaskHal(store);
|
||||
assert.equal(store.getState().machine.interpState, "reading");
|
||||
|
||||
console.log("linuxcnc_task_hal_runtime_smoke=ok");
|
||||
console.log("task_hal_machine_file_smoke=ok");
|
||||
console.log("switchkins_remap_hal_sync_smoke=ok");
|
||||
console.log("browser_task_hal_worker_smoke=ok");
|
||||
|
||||
async function waitForTaskHal(store) {
|
||||
for (let attempt = 0; attempt < 30; attempt += 1) {
|
||||
if (!store.getState().taskHalExecutionPending) {
|
||||
await new Promise((resolve) => setTimeout(resolve, 0));
|
||||
if (!store.getState().taskHalExecutionPending) return store.getState();
|
||||
}
|
||||
await new Promise((resolve) => setTimeout(resolve, 0));
|
||||
}
|
||||
throw new Error("task/HAL store command did not settle");
|
||||
}
|
||||
Reference in New Issue
Block a user